CN113208736B

CN113208736B - Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot

Info

Publication number: CN113208736B
Application number: CN202110602149.7A
Authority: CN
Inventors: 何裕源; 蒋友坤; 何超; 岳森
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2023-02-10
Anticipated expiration: 2041-05-31
Also published as: CN113208736A

Abstract

The invention provides an instrument driving device, an instrument tail end assembly, a surgical instrument and a surgical robot, wherein the instrument driving device comprises a base, a first driving shaft, a second driving shaft, a first overturning part, a second overturning part, a traction body head end fixing part, a first transmission assembly and a second transmission assembly; the first driving shaft rotates, and a first torque is applied to the second overturning part through the first transmission assembly; the second driving shaft rotates, and a second torque is applied to the second overturning part through the second transmission assembly so as to drive the second overturning part to rotate around the central point. Therefore, the second turnover part can be driven to move universally around the central point through the rotation of the first driving shaft and the second driving shaft, and then the universal movement of the joint part of the distal instrument tail end assembly can be controlled proportionally.

Description

Instrument driving device, instrument tail end assembly, surgical instrument and surgical robot

Technical Field

The invention relates to the field of surgical instruments, in particular to an instrument driving device, an instrument tail end assembly, a surgical instrument and a surgical robot.

Background

In recent years, with the application and development of related technologies of robots, especially the development of computing technologies, the role of medical surgical robots in clinical practice is more and more emphasized. The minimally invasive surgery robot system can reduce the physical labor of a doctor in the surgery process in an interventional therapy mode, and meanwhile achieves the purpose of accurate surgery, so that the patient has small wound, less blood loss, less postoperative infection and quick postoperative recovery. The design quality of the surgical instrument for the surgical robot directly determines whether the minimally invasive surgery robot system is successful or not, the surgical instrument with multiple degrees of freedom can better help a doctor to complete surgery operation, and the performance of the surgical instrument is a key factor influencing the performance level of the minimally invasive surgery robot system.

Although some surgical instruments exist in the field, the existing surgical instruments have a limited number of degrees of freedom, and when some complex surgical operations are desired, the motion space and motion flexibility are insufficient, and the existing instrument driving devices have complex transmission structures, occupy large space and often have adverse effects on the surgical operations.

Disclosure of Invention

The invention aims to provide an instrument driving device, an instrument tail end assembly, a surgical instrument and a surgical robot, and aims to solve one or more of the problems of limited number of degrees of freedom, complex transmission structure, large occupied space and the like in the conventional surgical instrument.

Thus, according to a first aspect of the present invention, there is provided an instrument drive device comprising:

a base having a datum surface;

a first driving shaft rotatably provided to the base;

the second driving shaft is rotatably arranged on the base, and the first driving shaft and the second driving shaft are respectively arranged on two sides of the reference surface;

the first overturning part is rotatably arranged on the base, and the rotating axis of the first overturning part is a first axis;

the second overturning part is rotatably arranged on the first overturning part; the rotating axis of the second turnover piece is a second axis, the second axis is different from or intersected with the first axis to form a central point, and the central point is positioned on the reference plane;

the traction body head end fixing part is arranged on the second overturning part and is used for fixedly connecting different traction bodies so as to realize transmission connection with the distal instrument tail end assembly; the head end fixing parts of the traction body are arranged at intervals;

the first transmission assembly is in transmission connection with the first driving shaft and is in transmission connection with the second overturning part; and

the second transmission assembly is in transmission connection with the second driving shaft and is in transmission connection with the second overturning part;

the first driving shaft rotates, and a first torque is applied to the second overturning part through the first transmission assembly so as to drive the second overturning part to rotate around the central point; the second driving shaft rotates, and a second torque is applied to the second overturning part through the second transmission assembly so as to drive the second overturning part to rotate around the central point.

Optionally, in the instrument driver, a plane in which the first torque lies and a plane in which the second torque lies are arranged at an angle.

Optionally, in the instrument drive device, the second everting member is driven to rotate about the second axis when the first drive shaft and the second drive shaft rotate synchronously in opposite directions; when the first driving shaft and the second driving shaft synchronously rotate along the same direction, the second overturning part is driven to rotate around the first axis.

Optionally, in the instrument drive device, the first axis and the second axis are perpendicular and intersect.

Optionally, in the instrument drive device, the base includes a guide having a plurality of guide holes for the retractor to extend distally through the base and for limiting radial displacement of the retractor relative to the base.

Optionally, in the instrument drive device, the first transmission assembly includes: the first driving wheel, the first spherical hinge, the second spherical hinge and the first connecting rod are arranged on the first connecting rod; the second transmission assembly includes: the second transmission wheel, the third spherical hinge, the fourth spherical hinge and the second connecting rod are arranged on the base;

the first driving wheel is rotatably arranged on the base and is in transmission connection with the first driving shaft, and the first spherical hinge is connected to the first driving wheel and is not coincident with the rotation axis of the first driving wheel; the second spherical hinge is connected to the second overturning part, and the first connecting rod is hinged to the first spherical hinge and the second spherical hinge respectively;

the second driving wheel is rotatably arranged on the base and is in transmission connection with the second driving shaft, and the third spherical hinge is connected to the second driving wheel and is not coincident with the rotation axis of the second driving wheel; the fourth spherical hinge is connected to the second overturning part, and the second connecting rod is hinged to the third spherical hinge and the fourth spherical hinge respectively;

wherein the second spherical hinge, the fourth spherical hinge, and the center point are not collinear.

Optionally, in the instrument driving device, the projection of the first axis and the projection of the second axis on the base form four quadrants, and the projection of the second spherical hinge on the base and the projection of the fourth spherical hinge on the base are located in two adjacent quadrants.

Optionally, in the instrument driving device, the rotation axis of the first driving shaft and the rotation axis of the second driving shaft are both perpendicular to the base, and the rotation axis of the first driving wheel and the rotation axis of the second driving wheel are both parallel to the base.

Optionally, in the instrument driver, the first transmission assembly includes: the first driving wheel, the first driving wire and the third driving wire; the second transmission assembly includes: the second driving wheel, the second driving wire and the fourth driving wire;

the first driving wheel is rotatably arranged on the base and is in transmission connection with the first driving shaft, and one end of the first driving wire is connected to the first driving wheel and is not coincident with the rotation axis of the first driving wheel; the other end of the first driving wire is connected to a first driving wire fixing point on the second overturning part, and the first driving wire fixing point is not overlapped with the first axis and the second axis; one end of the third driving wire is connected to the first driving wheel and is not coincident with the rotation axis of the first driving wheel;

the second driving wheel is rotatably arranged on the base and is in transmission connection with the second driving shaft, and one end of the second driving wire is connected to the second driving wheel and is not coincident with the rotating axis of the second driving wheel; the other end of the second driving wire is connected to a second driving wire fixing point on the second overturning part, and the second driving wire fixing point is not overlapped with the first axis and the second axis; one end of the fourth driving wire is connected to the second driving wheel and is not overlapped with the rotation axis of the second driving wheel; the other end of the fourth driving wire is connected with the other end of the third driving wire and is connected with the second overturning part;

the first driving wheel and the second driving wheel rotate according to a first combination, so that one of the first driving wire and the second driving wire is drawn and pulled, and when the other one of the first driving wire and the second driving wire is loosened, the second overturning part is driven to rotate around the second axis;

first drive wheel with the second drive wheel rotates according to the second combination, makes first drive silk with the second drive silk is received simultaneously and is drawn just third drive silk with when fourth drive silk is simultaneously relaxed, perhaps makes first drive silk with the second drive silk is simultaneously relaxed just third drive silk with when fourth drive silk is received simultaneously and is drawn, the drive the second upset piece centers on first axis rotates.

Optionally, in the instrument drive device, the first combination comprises the first drive wheel and the second drive wheel rotating in opposite directions; the second combination comprises that the first driving wheel and the second driving wheel rotate in the same direction.

Optionally, the instrument drive device further comprises: a rotary wheel;

the rotary wheel is rotatably arranged on the second overturning part around the second axis; the other end of the third driving wire is arranged around the circumference of the rotary wheel, the other end of the fourth driving wire is arranged around the circumference of the rotary wheel, and the other end of the third driving wire is fixedly connected with the other end of the fourth driving wire.

Optionally, in the instrument driving device, a projection of an intersection point of the swivel wheel and the second axis and the first driving wire fixing point on the second axis are respectively located on two sides of the projection of the central point on the second axis.

Optionally, in the instrument driving device, the second flipping unit includes a fixed wheel perpendicular to the second axis, and a center of the fixed wheel passes through the second axis; the first driving wire and the second driving wire extend around the circumference of the fixed wheel, and the first driving wire fixing point and the second driving wire fixing point are located on the periphery of the fixed wheel.

Optionally, in the instrument drive device, the first transmission assembly further comprises a first guide wheel, and the second transmission assembly further comprises a second guide wheel; the rotating axis of the first guide wheel is parallel to the rotating axis of the first transmission wheel, and the rotating axis of the second guide wheel is parallel to the rotating axis of the second transmission wheel;

the first driving wire extends from the first driving wheel, extends through the first guide wheel, extends around the circumference of the fixed wheel and is fixed at the first driving wire fixing point; the third driving wire extends from the first driving wheel, extends through the first guide wheel, extends around the circumferential direction of the rotary wheel and is connected with the fourth driving wire;

the second driving wire extends from the second transmission wheel, extends through the second guide wheel, extends around the circumference of the fixed wheel and is fixed at the second driving wire fixing point; the fourth driving wire extends from the first driving wheel, extends through the second guide wheel, extends around the circumferential direction of the rotary wheel, and is connected with the third driving wire.

Alternatively, in the instrument drive device,

the direction of the first drive wire around the first drive wheel is opposite to the direction of the third drive wire around the first drive wheel; the direction of the first drive wire around the first guide wheel is opposite to the direction of the third drive wire around the first guide wheel; the direction of the first drive wire around the fixed wheel is opposite to the direction of the second drive wire around the fixed wheel;

the direction of the second driving wire around the second transmission wheel is opposite to the direction of the fourth driving wire around the second transmission wheel; the direction of the second drive wire around the second guide wheel is opposite to the direction of the fourth drive wire around the second guide wheel; the direction of the third drive wire around the wheel is opposite to the direction of the fourth drive wire around the wheel.

Optionally, in the apparatus driving device, a diameter of the fixed wheel is equal to a diameter of the swivel wheel, a rotation axis of the first driving wheel coincides with a rotation axis of the second driving wheel, a rotation axis of the first guiding wheel coincides with a rotation axis of the second guiding wheel, a diameter of the fixed wheel matches with a distance between the first guiding wheel and the second guiding wheel, a position of the first driving wire fixed to the first driving wheel and a position of the third driving wire fixed to the first driving wheel along the first axis match with a position of the first guiding wheel along the first axis, and a position of the second driving wire fixed to the second driving wheel and a position of the fourth driving wire fixed to the second driving wheel along the first axis match with a position of the second guiding wheel along the first axis.

Optionally, in the instrument drive unit, the rotation axis of the first drive shaft and the rotation axis of the second drive shaft are perpendicular to the base, and the rotation axis of the first drive wheel and the rotation axis of the second drive wheel are parallel to the base.

Optionally, the instrument drive device has a central axis, the central axis is perpendicular to the first axis and the second axis, respectively, and the central axis passes through the central point; each traction body head end fixing part comprises two head end connection points for fixedly connecting one ends of two traction wires in one traction body, and the other ends of the traction wires connected with the head end connection points are connected with the tail end connection points of the instrument tail end assemblies;

the head end connecting points corresponding to the traction wires for connecting with the same joint piece are positioned on the same circumference with the central shaft as the center of a circle.

Optionally, the apparatus driving device includes six traction body head end fixing portions, namely a first traction body head end fixing portion to a sixth traction body head end fixing portion, the first traction body head end fixing portion to the third traction body head end fixing portion are used for being fixedly connected with a traction body connected with a far joint member, and the fourth traction body head end fixing portion to the sixth traction body head end fixing portion are used for being fixedly connected with a traction body connected with a near joint member;

the radius of a first circumference where the first traction body head end fixing part and the third traction body head end fixing part are located is D, the radius of a second circumference where the fourth traction body head end fixing part and the sixth traction body head end fixing part are located is D, and D > D.

Optionally, in the apparatus driving device, the first traction body head end fixing part to the sixth traction body head end fixing part sequentially include a first head end connection point to a twelfth head end connection point; and the angles of the connecting lines of the second head end connecting point, the ninth head end connecting point, the tenth head end connecting point, the third head end connecting point, the fourth head end connecting point, the eleventh head end connecting point, the twelfth head end connecting point, the fifth head end connecting point, the sixth head end connecting point, the seventh head end connecting point and the eighth head end connecting point with the circle center relative to the reference line are sequentially increased by taking the connecting line of the first head end connecting point and the circle center of the circle where the first head end connecting point is located as the reference line.

Optionally, the instrument drive device comprises a guide member, the guide member being connected to the base; the guide piece comprises a plurality of guide holes which are distributed around the central shaft, and each guide hole is used for allowing one traction wire to penetrate through; the arrangement sequence of the guide holes is the same as that of the head end connecting points of the traction wires which are used for containing the guide holes and are arranged on the second overturning part.

Optionally, the instrument drive device comprises:

a third driving shaft rotatably provided to the base;

the fourth driving shaft is rotatably arranged on the base;

a third drive assembly drivingly connected to the third drive shaft for driving one degree of freedom of the instrument tip assembly;

and the fourth transmission assembly is in transmission connection with the fourth driving shaft and is used for driving the other degree of freedom of the instrument terminal assembly.

Optionally, in the instrument driver, the fourth transmission assembly includes a first transmission wire fixing point and a second transmission wire fixing point, and the first transmission wire fixing point and the second transmission wire fixing point rotate along with the rotation of the fourth driving shaft;

the first transmission wire fixing point is used for connecting one transmission wire in a first transmission wire group, and the second transmission wire fixing point is used for connecting the other transmission wire in the first transmission wire group;

the fourth driving shaft rotates to drive the first transmission wire fixing point and the second transmission wire fixing point to rotate respectively, and the fourth driving shaft is used for driving the two transmission wires in the first transmission wire group to synchronously move along opposite directions so as to drive the opening and closing of the opening and closing component of the instrument tail end component.

Optionally, in the instrument driver, the third drive assembly includes a third drive wire fixation point and a fourth drive wire fixation point, the third and fourth drive wire fixation points rotate with rotation of the third drive shaft;

the third transmission wire fixing point is used for connecting a transmission wire in a second transmission wire group, and the fourth transmission wire fixing point is used for connecting another transmission wire in the second transmission wire group;

the third driving shaft rotates to drive the third transmission wire fixing point and the fourth transmission wire fixing point to rotate respectively, and the third driving shaft and the fourth transmission wire fixing point are used for driving two transmission wires in the second transmission wire group to synchronously move along opposite directions so as to drive the opening and closing of the opening and closing component of the instrument tail end component to open and close;

the third transmission assembly and the fourth transmission assembly are respectively used for connecting different transmission thread sets and driving different opening and closing pieces of the opening and closing assembly to move.

Optionally, the instrument drive device comprises:

a fifth driving shaft rotatably provided to the base;

and the fifth transmission assembly is in transmission connection with the fifth driving shaft and is used for driving the external instrument rod to rotate.

Optionally, in the instrument driving device, the first flipping unit is a frame or has a cavity, an inner space of the frame or the cavity is used for accommodating the second flipping unit, and the second flipping unit is accommodated in the inner space of the first flipping unit at least in an initial state.

According to a second aspect of the present invention there is also provided an instrument tip assembly for use with an instrument drive device as described above; the instrument tail end assembly comprises at least four joint parts which are sequentially arranged from a near end to a far end;

the first joint part is rotatably connected with the second joint part, the third joint part is rotatably connected with the fourth joint part, and the second joint part is fixedly connected with the third joint part; the rotation axis between the first joint part and the second joint part is different from the rotation axis between the third joint part and the fourth joint part;

the joint piece at least positioned at the most distal end of the joint pieces comprises at least three traction body tail end fixing parts which are arranged at intervals, and each traction body tail end fixing part is used for fixedly connecting one traction body so as to be connected with the traction body head end fixing part of the instrument driving device through the traction body.

Optionally, in the instrument tip assembly, each of the traction body tip fixing portions includes two tip connection points for fixedly connecting one ends of two traction wires in one traction body, and the other ends of the traction wires for connection at the tip connection points are connected to the head end connection point of the instrument driving device.

Optionally, in the instrument tip assembly, the tip connection point is a threading hole penetrating through the joint member, the threading hole is used for one traction wire to be threaded, and two threading holes of each traction body tip fixing portion are used for two traction wires of the same traction body to be respectively threaded and then fixedly connected to the distal end side of the joint member.

Optionally, the instrument tip assembly includes eight joint members arranged in sequence from the proximal end to the distal end, which are respectively a first joint member to an eighth joint member;

the first joint member is rotatably connected to the second joint member about a third axis; the third joint part is rotatably connected with the fourth joint part around a fourth axis; the fifth joint part is rotatably connected with the sixth joint part around a fifth axis; said seventh articular component being rotatably coupled to said eighth articular component about a sixth axis;

the third axis is perpendicular to the fourth axis, the fifth axis is perpendicular to the sixth axis, and the third axis is parallel to one of the fifth axis and the sixth axis; the fourth joint element and/or the fifth joint element are/is used for being connected with one part of tractor head end fixing parts of the instrument driving device through some tractors, and the eighth joint element is used for being connected with the other part of tractor head end fixing parts of the instrument driving device through other tractors;

wherein the amount of change of some traction bodies for connecting the fourth joint part and/or the fifth joint part along the movement of the second overturning part is smaller than that of the other traction bodies for connecting the eighth joint part along the movement of the second overturning part.

Optionally, the instrument tip assembly comprises a shutter assembly; the opening and closing assembly is arranged at the far end of the joint piece at the far end;

the opening and closing assembly comprises two opening and closing sheets which can rotate around a seventh axis respectively, and the opening and closing sheets are used for being connected with a transmission wire fixing point of the instrument driving device through a transmission wire and used for opening and closing around the seventh axis under the driving of the instrument driving device.

Optionally, in the instrument tip assembly, the opening and closing assembly includes: the two opening and closing pieces, the slide bar shaft, the opening and closing tail end pulley and the transmission screw fixing block;

the opening and closing piece, the opening and closing tail end pulley and the other opening and closing piece are sequentially arranged along the seventh axis, and the two opening and closing pieces and the opening and closing tail end pulley are respectively and rotatably arranged around the seventh axis; the opening and closing tail end pulley is used for allowing a transmission wire in a transmission wire group to be wound along the circumferential direction;

the slide bar shaft is provided with a containing cavity matched with the transmission screw fixing block and used for containing the transmission screw fixing block;

the transmission wire fixing block is used for being fixedly connected with the transmission wire; the transmission wire fixing block is used for moving along with the movement of the transmission wire and driving the slide bar shaft to move along the movement direction of the transmission wire;

the two opening and closing pieces are respectively provided with a chute, and two ends of the slide rod shaft can movably penetrate through one chute; the extending direction of the inclined grooves is arranged at an angle with the moving direction of the driving wire, and the two inclined grooves are oppositely arranged relative to the moving direction of the driving wire.

Optionally, in the instrument tip assembly, the opening and closing assembly includes: two opening and closing pieces and two opening and closing rotating wheels;

the two opening and closing pieces are respectively and fixedly connected with one opening and closing rotating wheel; the two opening and closing rotating wheels are respectively and rotatably arranged around the seventh axis;

each opening and closing rotating wheel is used for enabling a transmission wire in one transmission wire group to be wound in the circumferential direction and fixedly connected with the transmission wire so as to rotate under the driving of the transmission wire;

the two opening and closing rotating wheels are respectively used for being connected with different transmission wire sets, so that the two opening and closing pieces are configured to be opened and closed in a mutually decoupled mode.

Optionally, in the instrument tip assembly, the opening and closing assembly includes an opening and closing base, the two opening and closing pieces are rotatably disposed on the opening and closing base, and the opening and closing base is rotatably connected to the joint member at the farthest end; the opening and closing base is in transmission connection with a driving shaft of the instrument driving device through a flexible shaft; the opening and closing base is driven by the driving shaft to rotate.

According to a third aspect of the present invention, there is also provided a surgical instrument comprising an instrument drive arrangement as described above, an instrument tip assembly as described above, and a retractor body;

one end of each traction body is connected with a traction body head end fixing part of the instrument driving device, and the other end of each traction body is connected with a traction body tail end fixing part of the instrument tail end assembly; the first drive shaft and the second drive shaft of the instrument drive device rotate, and the plurality of articulating members of the instrument tip assembly are driven by the retractor to rotate about an axis of rotation between the articulating members.

Optionally, in the surgical instrument, each of the traction bodies includes two traction wires, each of the traction body head end fixing portions includes two head end connection points, each of the traction body end fixing portions includes two end connection points, each of the traction body two proximal ends of the traction wires are respectively fixedly connected to the two head end connection points of the traction body head end fixing portion, and each of the traction body two distal ends of the traction wires are respectively fixedly connected to the two end connection points of the traction body end fixing portion.

Optionally, in the surgical instrument, the instrument driving device includes six traction body head end fixing portions, namely a first traction body head end fixing portion to a sixth traction body head end fixing portion; the instrument tail end assembly comprises eight joint pieces which are sequentially arranged from a near end to a far end and are respectively a first joint piece to an eighth joint piece; the surgical instrument comprises six traction bodies which are respectively a first traction body to a sixth traction body;

the first tractor body end fixing part to the third tractor body end fixing part are arranged on the eighth joint part, and the fourth tractor body end fixing part to the sixth tractor body end fixing part are arranged on the fourth joint part and/or the fifth joint part;

the proximal ends of the first traction body to the sixth traction body are respectively connected with the first traction body head end fixing part to the sixth traction body head end fixing part, and the distal ends of the first traction body to the sixth traction body are respectively connected with the first traction body tail end fixing part to the sixth traction body tail end fixing part;

the first traction body head end fixing part and the third traction body head end fixing part are arranged on a first circumference which takes a central shaft of the instrument driving device as a circle center, the fourth traction body head end fixing part and the sixth traction body head end fixing part are arranged on a second circumference which takes the central shaft as the circle center, the radius of the first circumference is D, the radius of the second circumference is D, and D and D meet the requirements: 1.8 are woven into (D/d) less than 2.2.

Optionally, the surgical instrument further comprises a flexible shaft, and the instrument driving device comprises a third driving shaft and a third transmission assembly; the near end of the flexible shaft is connected with a third transmission assembly of the instrument driving device, the far end of the flexible shaft is connected with an opening and closing base of the instrument tail end assembly, a third driving shaft of the instrument driving device rotates, and the opening and closing base is driven to rotate through the third transmission assembly and the flexible shaft.

Optionally, the surgical instrument further comprises an instrument rod, and the instrument driving device comprises a fifth driving shaft and a fifth transmission assembly; the instrument rod is used for the traction body to penetrate through; the proximal end of the instrument rod is rotatably connected to the base, and the instrument tip assembly is connected to the distal end of the instrument rod; and a fifth driving shaft of the instrument driving device rotates, and the instrument rod is driven to rotate through the fifth transmission assembly.

According to a fourth aspect of the present invention, there is also provided a surgical robot comprising at least one robotic arm having a distal end detachably connected to a surgical instrument as described above.

In summary, in the instrument driving device, the instrument tip assembly, the surgical instrument and the surgical robot provided by the present invention, the instrument driving device includes a base, a first driving shaft, a second driving shaft, a first turning member, a second turning member, a traction body head end fixing portion, a first transmission assembly and a second transmission assembly, wherein the base has a reference surface; a first driving shaft rotatably provided to the base; the second driving shaft is rotatably arranged on the base, and the first driving shaft and the second driving shaft are respectively arranged on two sides of the reference surface; the first overturning part is rotatably arranged on the base, and the rotating axis of the first overturning part is a first axis; the second overturning part is rotatably arranged on the first overturning part; the rotating axis of the second turnover piece is a second axis, the second axis is different from or intersected with the first axis to form a central point, and the central point is positioned on the reference plane; the traction body head end fixing part is arranged on the second overturning part and is used for fixedly connecting different traction bodies so as to realize transmission connection with the distal instrument tail end assembly; the head end fixing parts of the traction body are arranged at intervals; the first transmission assembly is in transmission connection with the first driving shaft and is in transmission connection with the second overturning part; the second transmission assembly is in transmission connection with the second driving shaft and is in transmission connection with the second overturning part; the first driving shaft rotates, and a first torque is applied to the second overturning part through the first transmission assembly so as to drive the second overturning part to rotate around the central point; the second driving shaft rotates, and a second torque is applied to the second overturning part through the second transmission assembly so as to drive the second overturning part to rotate around the central point.

Therefore, the second overturning part can be driven to move around the central point in a universal mode through the rotation of the first driving shaft and the second driving shaft, namely the central point serves as a fixed point, and the second overturning part can rotate around the fixed point by 360 degrees without dead angles. Furthermore, the first driving shaft and the second driving shaft are matched to rotate, the unique form of the second overturning part in the space can be determined, and the universal motion of the joint part of the distal instrument end assembly can be controlled proportionally by the aid of the traction body connected with the traction body head end fixing part arranged on the second overturning part, so that the flexibility of the surgical instrument is improved, and some complex surgical operations can be better dealt with. In addition, the second overturning part is arranged on the first overturning part, so that the space volume of the whole instrument driving device is smaller, and the operation space requirement of the surgical robot is reduced.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

FIG. 1 is a schematic view of the overall configuration of a surgical instrument according to a first embodiment of the present invention;

FIG. 2 is a schematic view of a surgical instrument according to a first embodiment of the present invention;

FIG. 3a is a partially schematic illustration of components associated with a first drive shaft and a second drive shaft of an instrument drive assembly according to a first embodiment of the present invention;

FIG. 3b is a partial schematic view of another angle of the instrument drive unit according to the first embodiment of the present invention;

FIG. 3c is an exploded view of the instrument drive device shown in FIG. 3 a;

FIG. 4a is a schematic view of a first flipper according to a first embodiment of the present invention;

FIG. 4b is a schematic view of a second flipper according to a first embodiment of the present invention;

FIG. 4c is a schematic illustration of the first drive assembly and the second drive assembly of the first embodiment of the present invention;

FIG. 4d is a schematic view of the first embodiment of the present invention driving the second flipping element to move;

FIG. 5a is a schematic view of the instrument tip assembly of the surgical instrument in a swing zero position in accordance with the first embodiment of the present invention;

FIG. 5b is a schematic view of the instrument tip assembly of the surgical instrument shown in the left swing position in accordance with the first embodiment of the present invention;

FIG. 5c is a schematic illustration of the right swing of the instrument tip assembly of the surgical instrument according to the first embodiment of the present invention;

FIG. 5d is a schematic view of the instrument tip assembly hypocycloid of the surgical instrument according to the first embodiment of the present invention;

FIG. 5e is a schematic view of the swing out of the instrument tip assembly of the surgical instrument according to the first embodiment of the present invention;

FIG. 6a is a partially schematic illustration of the components associated with the third through fifth drive shafts of the instrument drive unit in accordance with the first embodiment of the present invention;

FIG. 6b is a partial schematic view of a third drive shaft and opening/closing assembly of the instrument drive unit in accordance with the first embodiment of the present invention;

FIG. 6c is a partial schematic view of a fourth drive shaft and opening/closing assembly of the instrument drive unit in accordance with the first embodiment of the present invention;

FIG. 6d is an exploded view of the opening and closing assembly shown in FIG. 6 c;

FIG. 6e is a partial schematic view of a fifth drive shaft and instrument shaft of the instrument drive unit in accordance with the first embodiment of the present invention;

FIG. 7a is a diagrammatic view of a surgical instrument according to a second embodiment of the present invention;

FIG. 7b is a partially schematic illustration of the third drive shaft and a fourth drive shaft associated with the instrument drive unit in accordance with the second embodiment of the present invention;

FIG. 7c is a schematic view of a third drive shaft and opening and closing assembly of the instrument drive unit in accordance with the second embodiment of the present invention;

FIG. 7d is a schematic view of a fourth drive shaft and opening/closing assembly of the instrument driving device according to the second embodiment of the present invention;

FIG. 8 is a diagrammatic view of a surgical instrument according to a third embodiment of the present invention;

FIG. 9a is a partial schematic view of the components associated with the first drive shaft and the second drive shaft in accordance with a third embodiment of the present invention;

FIG. 9b is a schematic view of the third embodiment of the present invention driving the second flipping element to move;

FIG. 9c is a partial schematic view of another angle of movement of the second flipper according to a third embodiment of the present invention;

FIG. 10a is a partial schematic view of the first drive assembly and the second drive assembly of the third embodiment of the present invention;

FIG. 10b is a schematic illustration of the transmission principles of the first transmission assembly and the second transmission assembly of the third embodiment of the present invention;

fig. 10c is a schematic view of the driving principle of the driving wire of the third embodiment of the present invention;

FIG. 11a is a schematic view of the second flipping unit driving the pulling wire according to the first embodiment of the present invention;

FIG. 11b is a simplified schematic illustration of the joint member in a swing zero position in accordance with a first embodiment of the present invention;

FIG. 11c is a simplified schematic illustration of the oscillating motion of the articulating component according to the first embodiment of the invention;

FIG. 12a is a schematic plan view of a second flipper according to a first embodiment of the invention;

FIG. 12b is a schematic plan view of a guide member according to a first embodiment of the present invention;

FIG. 12c is a schematic plan view of a joint component according to a first embodiment of the invention;

fig. 13 is a schematic view of a surgical robot according to a first embodiment of the present invention.

In the drawings:

1-surgical instruments; 2-doctor console; 3-main manipulator; 4-operating trolley; 5-side trolley; 6, a mechanical arm;

10-an instrument drive; 100-a base; 101-a first drive shaft; 102-a second drive shaft; 103-a third drive shaft; 104-a fourth drive shaft; 105-a fifth drive shaft; 107-turning over the seat; 108 — a first drive gear; 109-a second drive gear; 110-a first drive wheel; 111-a second drive wheel; 112-a first link; 113-a second link; 114-a first flipper; 115-a second flip; 116-a guide; 117-a first traction body; 118-a second traction body; 119-a third tractor; 120-a fourth lead; 121-a fifth traction body; 122-sixth tractor; 140-a third drive gear; 141-a first transition gear; 142-a first driven gear; 143-flexible shaft; 144-an upper cover plate; 150-fourth drive gear; 151-second transition gear; 152-a second driven gear; 160-first drive wire fixation point; 161-a second drive wire fixing point; 162-a first drive wire set; 163-a first guide wheel set; 164-a third drive wire fixation point; 165-a fourth drive wire fixation point; 166 — a second drive wire set; 167-a second guide wheel set; 170-fixed wheel; 171-a turret wheel; 172-a first guide wheel; 173-a second guide wheel; 174-a first drive wire; 175-a second drive wire; 176-a third drive wire; 177-a fourth drive wire; 178-first drive wire fixation point; 179 — second drive wire fixation point; 181-first axis; 182-a second axis;

20-an instrument shaft;

30-an instrument tip assembly; 301-a first articular component; 302-a second articular component; 303-third joint part; 304-a fourth articular component; 305-a fifth articular component; 306-a sixth articular component; 307-a seventh articular component; 308-an eighth articular component; 313-a third axis; 314-fourth axis; 315-fifth axis; 316-sixth axis; 317-seventh axis; 340-an opening and closing base; 350-end base; 361-first opening-closing sheet; 362-second opening and closing sheet; 363-slide shaft; 364-opening and closing the end pulley; 365-opening and closing rotating shafts; 366-a transmission wire fixing block; 367-a chute; 368-a first opening and closing wheel; 369-a second opening and closing wheel.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this specification, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally used in its sense including "and/or" unless the content clearly dictates otherwise, the term "proximal" is generally the end near the operator and the term "distal" is generally the end near the operative object of the surgical instrument. In the present specification, "proximal end", "proximal side", "rear end" means a side relatively distant from an object to which the surgical instrument is operated, if not particularly limited; accordingly, "distal", "anterior", "leading" refer to a side that is relatively close to the subject to which the surgical instrument is to be operated.

The core idea of the invention is to provide an instrument driving device, an instrument tail end assembly, a surgical instrument and a surgical robot, so as to solve one or more of the problems of limited number of degrees of freedom, complex transmission structure, large occupied space and the like in the existing surgical instrument.

The following description refers to the accompanying drawings.

[ EXAMPLES one ]

Referring to fig. 1 to 6e and fig. 11a to 13, in which fig. 1 is a schematic overall structure diagram of a surgical instrument according to a first embodiment of the present invention; FIG. 2 is a schematic view of a surgical instrument according to a first embodiment of the present invention; FIG. 3a is a partially schematic illustration of components associated with a first drive shaft and a second drive shaft of an instrument drive assembly according to a first embodiment of the present invention; FIG. 3b is a partial schematic view of another angle of the instrument drive unit according to the first embodiment of the present invention; FIG. 3c is an exploded view of the instrument drive device shown in FIG. 3 a; FIG. 4a is a schematic view of a first flipper according to a first embodiment of the present invention; FIG. 4b is a schematic view of a second flipper according to a first embodiment of the present invention; FIG. 4c is a schematic illustration of the first drive assembly and the second drive assembly of the first embodiment of the present invention; FIG. 4d is a schematic view of the first embodiment of the present invention driving the second flipping element to move; FIG. 5a is a schematic view of the instrument tip assembly of the surgical instrument in a swing zero position in accordance with the first embodiment of the present invention; FIG. 5b is a schematic view of the left pendulum of the instrument tip assembly of the surgical instrument according to the first embodiment of the present invention; FIG. 5c is a schematic illustration of the right swing of the instrument tip assembly of the surgical instrument according to the first embodiment of the present invention; FIG. 5d is a schematic view of the instrument tip assembly hypocycloid of the surgical instrument according to the first embodiment of the present invention; fig. 5e is a schematic view of the swing out of the instrument tip assembly of the surgical instrument according to the first embodiment of the present invention; FIG. 6a is a partially schematic illustration of the components associated with the third through fifth drive shafts of the instrument drive unit in accordance with the first embodiment of the present invention; FIG. 6b is a partial schematic view of a third drive shaft and opening/closing assembly of the instrument drive unit in accordance with the first embodiment of the present invention; FIG. 6c is a partial schematic view of a fourth drive shaft and opening/closing assembly of the instrument drive unit in accordance with the first embodiment of the present invention; FIG. 6d is an exploded view of the opening and closing assembly shown in FIG. 6 c; FIG. 6e is a partial schematic view of a fifth drive shaft and instrument shaft of the instrument drive unit in accordance with the first embodiment of the present invention; FIG. 11a is a schematic view of the second flipping unit driving the pulling wire according to the first embodiment of the present invention; FIG. 11b is a simplified schematic illustration of the joint element in a zero position of oscillation according to a first embodiment of the present invention; FIG. 11c is a simplified schematic illustration of the oscillating motion of the articulating component according to the first embodiment of the invention; fig. 12a is a schematic plan view of a second flipper according to a first embodiment of the invention; FIG. 12b is a schematic plan view of a guide member according to a first embodiment of the present invention; FIG. 12c is a schematic plan view of a joint component according to a first embodiment of the invention; fig. 13 is a schematic view of a surgical robot according to a first embodiment of the present invention.

As shown in fig. 1 and 2, a surgical instrument according to a first embodiment of the present invention includes: an instrument drive device 10, an instrument shaft 20 and an instrument tip assembly 30, wherein the instrument drive device 10 is connected with the instrument tip 30 assembly through the instrument shaft 20. The instrument drive 10 is configured to drive the motion of the instrument tip assembly 30. In an exemplary embodiment, the instrument driver 10 of the surgical instrument is engaged with an external power device (e.g., a motor). Under the drive of the power device, the movement of the instrument tail end assembly 30 is realized, and further, the operation on human tissues and organs is realized.

Referring now to fig. 2 to 8, an instrument driving device 10 according to an embodiment of the present invention will be described

As shown in fig. 3a to 3c, the instrument driving device 10 includes: comprises a base 100, a first driving shaft 101, a second driving shaft 102, a first overturning part 114, a second overturning part 115, a traction body head end fixing part, a first transmission component and a second transmission component; the base has a reference surface, the first driving shaft 101, the second driving shaft 102 and the first turning member 114 are respectively and rotatably disposed on the base 100, the first driving shaft 101 and the second driving shaft 102 are respectively disposed on two sides of the reference surface, and the second turning member 115 is rotatably disposed on the first turning member 114; the rotation axis of the first turnover part 114 is a first axis 181, the rotation axis of the second turnover part 115 is a second axis 182, and the second axis 182 is out of plane or intersected with the first axis 181 to form a central point, and the central point is located on the reference plane; it is understood that when the second axis 182 intersects the first axis 181, the intersection point is the center point. When the second axis 182 is different from the first axis 181, a midpoint of a common perpendicular line between the second axis 182 and the first axis 181 is configured as the center point. The tractor head end fixing part is arranged on the second overturning part 115 and is used for fixedly connecting different tractors so as to realize transmission connection with the distal instrument tail end assembly 30; the head end fixing parts of the traction body are arranged at intervals; the first transmission assembly is in transmission connection with the first driving shaft 101 and in transmission connection with the second overturning part 115; the second transmission assembly is in transmission connection with the second driving shaft 102 and in transmission connection with the second overturning part 115; the first driving shaft 101 rotates, and a first torque is applied to the second overturning part 115 through the first transmission assembly so as to drive the second overturning part 115 to rotate around a central point; the second driving shaft 102 rotates, and a second torque is applied to the second flipping element 115 through the second transmission assembly to drive the second flipping element 115 to rotate around the center point.

It is to be understood that the first and second torques are rotational moments about a central point, and that the planes in which they lie pass through the central point. Preferably, in some embodiments, the plane where the first torque is located and the plane where the second torque is located are arranged at an angle, and the planes where the two torques are located are arranged at an angle, that is, the second flipping unit 115 can be driven to move universally around the central point, that is, the central point serves as a fixed point around which the second flipping unit 115 can rotate 360 ° without dead angle. If the planes of the two torques are coincident, it is obvious that the second flipping component 115 can only be driven to rotate around the fixed point along the single axis in the direction perpendicular to the planes of the two torques. Of course, in other embodiments, the first driving shaft 101 and the second driving shaft 102 may be used to drive the second flipping unit 115 in steps, and in these embodiments, the first driving shaft 101 and the second driving shaft 102 may rotate to apply the first torque and the second torque to the second flipping unit 115, which may be coincident on the same plane. For example, in the first step, the first driving shaft 101 and the second driving shaft 102 are rotated to apply the first torque and the second torque to the second reversal member 115 on the plane parallel to the first axis 181, and in the second step, the first driving shaft 101 and the second driving shaft 102 are rotated to apply the first torque and the second torque to the second reversal member 115 on the plane parallel to the second axis 182, so that the second reversal member 115 can be driven to rotate around the stationary point by 360 ° without dead angle through the step operation.

Furthermore, the first driving shaft 101 and the second driving shaft 102 are matched to rotate, so that the unique shape of the second turnover part 115 in the space can be determined, and the configuration can be adopted, so that the joint universal motion of the distal instrument end assembly 30 can be controlled proportionally through the traction body connected with the head end fixing part of the traction body arranged on the second turnover part 115, the flexibility of the surgical instrument is improved, and some complex surgical operations can be better handled. In addition, the second flipping unit 115 is disposed on the first flipping unit 114, so that the space volume of the entire instrument driving device 10 is small, and the operation space requirement of the surgical robot is reduced.

Referring to fig. 4a and 4b, in an exemplary embodiment, a reference plane is perpendicular to the base 100, and the first driving shaft 101 and the second driving shaft 102 are symmetrically disposed about the reference plane. Further, the first axis 181 and the second axis 182 are parallel to the base 100, and the first axis 181 perpendicularly intersects the second axis 182, and the intersection point of the first axis 181 and the second axis 182 is the center point of the movement of the second flipping unit 115. In practice, the first flipping element 114 and the second flipping element 115 are configured to form a set of hook-like structures. Optionally, the first flipping element 114 is rotatably disposed on the flipping base 107, and the flipping base 107 is fixedly connected to the base 100. For the hook hinge structure, relative to the plane where the second flipping component 115 is located, the central point is a determined fixed point, so that two moving points which are not coincident with the first axis 181 and the second axis 182 are additionally selected on the second flipping component 115, and based on the principle that three points determine a plane, the unique shape of the second flipping component 115 in the space can be defined through the two moving points. It will be appreciated that the two points of motion driving the second flipping element 115 should not be collinear with the center point, i.e., it is not possible to arrange the two points of motion and the center point on the same line. The first driving shaft 101 and the second driving shaft 102 may be connected to the two moving points through the first transmission assembly and the second flipping element 115, respectively, so that different torques may be applied to the central point through the transmission path of the driving shaft-transmission assembly-moving points to drive the second flipping element 115 to rotate around the central point. The different rotation angles of the first driving shaft 101 and the second driving shaft 102 can be converted into two moving points at different positions in space through two transmission assemblies, so that the unique form of the second turnover part 115 in space is determined through the matched rotation of the first driving shaft 101 and the second driving shaft 102.

Further, referring to fig. 4a to 4d, in an exemplary embodiment, the second flipping unit 115 may be formed with a plurality of holes for the head end of the pulling body to pass through, the fixing portion of the head end of the pulling body includes a plurality of cylindrical fixing terminals, and each fixing terminal may fix one pulling body on the second flipping unit 115. The plane of the second turning member 115 can proportionally control the universal motion of the joint part of the distal instrument end assembly 30 through the traction body connected with the traction body head end fixing part arranged on the second turning member 115, so as to form a control mode similar to a marionette. Optionally, the base 100 includes a guide 116, the guide 116 having a plurality of guide holes for the puller body to extend distally through the base 100 and for limiting radial displacement of the puller body relative to the base 100.

Preferably, when the first driving shaft 101 and the second driving shaft 102 synchronously rotate in opposite directions, the second overturning member 115 is driven to rotate around the second axis 182; when the first driving shaft 101 and the second driving shaft 102 rotate synchronously in the same direction, the second flipping element 115 is driven to rotate around the first axis 181. It is to be understood that synchronous rotation herein includes, but is not limited to, constant velocity rotation. In some embodiments, the transmission ratio of the first transmission assembly and the second transmission assembly may be the same, or the distance between the two moving points and the central point is the same, then the first driving shaft 101 and the second driving shaft 102 should be configured to rotate at the same speed. In other embodiments, the transmission ratios of the first transmission assembly and the second transmission assembly are different, or the distances between the two moving points and the central point are different, the rotation speeds of the first driving shaft 101 and the second driving shaft 102 are adapted to different transmission ratios, so that the first torque is adapted to the second torque. Of course, in other embodiments, the first driving shaft 101 and the second driving shaft 102 may be configured to drive the second flipping element 115 to rotate around the first axis 181 when synchronously rotating in opposite directions; when the first driving shaft 101 and the second driving shaft 102 rotate synchronously in the same direction, the second flipping member 115 is driven to rotate around the second axis 182. A person skilled in the art can make simple substitutions.

Referring to fig. 3a to 4b, in an exemplary embodiment, the first transmission assembly includes: a first driving wheel 110, a first spherical hinge, a second spherical hinge and a first connecting rod 112; the second transmission assembly includes: a second transmission wheel 111, a third spherical hinge, a fourth spherical hinge and a second connecting rod 113; the first driving wheel 110 is rotatably disposed on the base 100 and is in transmission connection with the first driving shaft 101, and the first spherical hinge is connected to the first driving wheel 110 and is not coincident with the rotation axis of the first driving wheel 110; the second spherical hinge is connected to the second turning part 115, and the first connecting rod 112 is hinged to the first spherical hinge and the second spherical hinge respectively; the second driving wheel 111 is rotatably disposed on the base 100 and is in transmission connection with the second driving shaft 102, and the third ball hinge is connected to the second driving wheel 111 and is not coincident with the rotation axis of the second driving wheel 111; the fourth spherical hinge is connected to the second turning member 115, and the second connecting rod 113 is hinged to the third spherical hinge and the fourth spherical hinge respectively; wherein the second spherical hinge, the fourth spherical hinge, and the center point are not collinear. Optionally, the first transmission assembly further includes a first driving gear 108 coaxially fixed to the first driving shaft 101, the first driving gear 108 is a helical gear, the outer periphery of the first driving gear 110 also has helical teeth adapted to the first driving gear 108, and the first driving gear 108 is meshed with the first driving gear 110 and realizes transmission; the second transmission assembly further includes a second driving gear 109 coaxially fixed on the second driving shaft 102, the second driving gear 109 is a helical gear, the outer periphery of the second transmission wheel 111 also has helical teeth matched with the second driving gear 109, and the second driving gear 109 is meshed with the second transmission wheel 111 to realize transmission. Preferably, the rotation axis of the first driving shaft 101 and the rotation axis of the second driving shaft 102 are perpendicular to the base 100, and the rotation axis of the first driving wheel 110 and the rotation axis of the second driving wheel 120 are parallel to the base 100. Therefore, the first driving shaft 101 rotates to drive the first driving gear 108 and the first driving wheel 110 to rotate, so as to drive the first ball joint to rotate around the rotation axis of the first driving wheel 110, and further, the first connecting rod 112 and the second ball joint are driven to apply a first torque to the second flipping element 115. It will be appreciated that the center of the second ball joint forms a pivot point that determines the spatial position of the second flip 115. Similarly, the second driving shaft 102 rotates to apply a second torque to the second tilting member 115 through the transmission of the second connecting rod 113 and the fourth spherical hinge, and the center of the fourth spherical hinge forms another moving point for determining the spatial position of the second tilting member 115.

The universal rotation of second flipping element 115 about a central point, and the motion of distal instrument tip assembly 30, is illustratively described below in conjunction with fig. 5 a-5 e. The first driving gear 108 and the second driving gear 109 have the same gear direction, the same gear module, and the same gear diameter, and the first driving gear 108 and the second driving gear 109 have the same rotation direction, and the first transmission wheel 110 and the second transmission wheel 111 have the same rotation direction. As shown in fig. 5a, for ease of description, the second flipping element 115 is defined as being parallel to base 100 in an initial state, in which instrument tip assembly 30 is set to a zero position, it being understood that the zero position is an artificially set reference position that is a reference for describing the position of the joints of instrument tip assembly 30 at other positions. Preferably, when instrument tip assembly 30 is in the null position, the joints are not deflected, and the axis of the entire instrument tip assembly 30 is aligned and preferably coincident with the axis of instrument shaft 20.

As shown in fig. 5b, the first driving shaft 101 rotates counterclockwise, and the second driving shaft 102 rotates clockwise, so that the first connecting rod 112 moves a certain distance in a direction approaching the base 100, and the second connecting rod 113 moves a same distance in a direction away from the base 100, i.e. the second tilting member 115 is driven to rotate clockwise around the second axis 182. Correspondingly, the instrument tip assembly 30 forms a left pendulum.

As shown in fig. 5c, the first driving shaft 101 rotates clockwise, the second driving shaft 102 rotates counterclockwise, such that the first connecting rod 112 moves a certain distance away from the base 100, and the second connecting rod 113 moves a same distance toward the base 100, i.e. the second flipping element 115 is driven to rotate counterclockwise around the second axis 182. Correspondingly, the instrument tip assembly 30 forms a right pendulum.

As shown in fig. 5d, the first driving shaft 101 rotates counterclockwise, and the second driving shaft 102 rotates counterclockwise, so that the first connecting rod 112 moves a certain distance in a direction approaching the base 100, and the second connecting rod 113 moves the same distance in a direction approaching the base 100, i.e. the second flipping element 115 is driven to rotate counterclockwise around the first axis 181. Correspondingly, the instrument tip assembly 30 forms a hypocycloid.

As shown in fig. 5e, the first driving shaft 101 rotates clockwise, the second driving shaft 102 rotates clockwise, so that the first connecting rod 112 moves a certain distance away from the base 100, and the second connecting rod 113 moves the same distance away from the base 100, i.e. the second turning member 115 is driven to rotate clockwise around the first axis 181. Correspondingly, the instrument tip assembly 30 forms an outer pendulum.

In the above example, clockwise and counterclockwise represent only two opposite directions, but are not limited to the exact rotation direction, and similarly, the left pendulum and the right pendulum represent two opposite swing directions, and the inner pendulum and the outer pendulum represent the other two opposite swing directions, but are not limited to the exact swing direction. Fig. 5b to 5e illustrate only four extreme flipping conditions of the second flipping element 115, i.e. one axis is kept stationary and only one is rotated around the other axis. In fact, the first driving shaft 101 and the second driving shaft 102 do not necessarily rotate in the same direction, for example, the second driving shaft 102 may be kept stationary, and only the first driving shaft 101 may be driven to rotate, and it can be understood that the second flipping element 115 forms a tilting motion about a line connecting the fourth spherical hinge and the center point. Of course, keeping one drive shaft stationary and the other drive shaft rotating can also be considered as an extreme case, in practice, the two drive shafts can rotate at different angles in different rotation directions, and the second flipping element 115 forms a universal flipping motion around the center point. The distal instrument tip assembly 30 is also adapted to assume various swing positions between the left, right, inner and outer swings. In particular, the first and

second drive shafts

101 and 102 may be configured to limit the rotational freedom, such as the first and

second drive shafts

101 and 102 are coupled to a servo motor with a lock, respectively, such that when the first and

second drive shafts

101 and 102 are locked at a certain angle, the second flipping element 115 is stopped at a certain angle, and the instrument tip assembly 30 is in a certain swing state between the left, right, inner and outer swings.

Optionally, the projections of the first axis 181 and the second axis 182 on the base 100 form four quadrants, and the projection of the second ball joint on the base 100 and the projection of the fourth ball joint on the base 100 are located in two adjacent quadrants. To facilitate the arrangement of the ball joint and the second flipping element 115, the projections of the second ball joint and the fourth ball joint on the base 100 are disposed in two adjacent quadrants. Preferably, the second spherical hinge and the fourth spherical hinge are positioned on two sides of the reference plane; more preferably, when the second flipping element 115 is in the initial state, the second spherical hinge and the fourth spherical hinge are symmetrical about the reference plane.

Optionally, when the second flipping element 115 is in the initial state, the projection of the first ball joint on the base 100 and the projection of the second ball joint on the base 100 are located in the same quadrant, and the projection of the third ball joint on the base 100 and the projection of the fourth ball joint on the base 100 are located in the same quadrant. So configured, the first transmission assembly and the second transmission assembly are respectively arranged on two sides of the reference surface, thereby effectively utilizing space and reducing the overall size of the instrument driving device 10. Of course, after the second flip-flop 115 moves, the quadrant on which the projection of each spherical hinge is located may change, and the quadrant state is not limited. Further, if the first spherical hinge center projects on the reference plane to obtain the point G, the second spherical hinge center projects on the reference plane to obtain the point H, the rotation axis of the first driving wheel 110 projects on the reference plane to obtain the point J, and the first axis 181 projects on the reference plane to obtain the point K, it should be satisfied that: GJ/HK, GJ = HK, GJKH forms a parallelogram. Similarly, the third spherical hinge and the fourth spherical hinge are similar to each other, and can form a parallelogram relationship.

The present embodiment also provides an instrument tip assembly 30 for use with instrument drive device 10 as described above. The instrument tip assembly 30 includes at least four articulating components arranged sequentially from a proximal end to a distal end; the first joint part is rotatably connected with the second joint part, the third joint part is rotatably connected with the fourth joint part, and the second joint part is fixedly connected with the third joint part; the rotation axis between the first joint part and the second joint part is different from the rotation axis between the third joint part and the fourth joint part; the joint piece at least positioned at the most distal end of the joint pieces comprises at least three traction body tail end fixing parts which are arranged at intervals, and each traction body tail end fixing part is used for fixedly connecting one traction body so as to be connected with a traction body head end fixing part of the instrument driving device through the traction body. Due to the fact that the rotation axis between the first joint part and the second joint part is different from the rotation axis between the third joint part and the fourth joint part, the instrument end assembly 30 can be guaranteed to swing towards all directions through the rotation between at least four joint parts.

Referring now to fig. 2, 4d, 11 a-11 c, in conjunction with fig. 5 a-5 e, an exemplary embodiment of an instrument tip assembly 30 is illustrated.

Fig. 2 shows an instrument tip assembly 30 comprising a first joint element 301, a second joint element 302, a third joint element 303, a fourth joint element 304, a fifth joint element 305, a sixth joint element 306, a seventh joint element 307 and an eighth joint element 308 arranged in this order from the proximal end to the distal end; the first joint element 301 and the second joint element 302 are rotatably connected around a third axis 313, the third joint element 303 and the fourth joint element 304 are rotatably connected around a fourth axis 314, the fifth joint element 305 and the sixth joint element 306 are rotatably connected around a fifth axis 315, the seventh joint element 307 and the eighth joint element 308 are rotatably connected around a sixth axis 316, the third axis 313 is perpendicular to the fourth axis 314, the fifth axis 315 is perpendicular to the sixth axis 316, and the third axis 313 is parallel to the sixth axis 316. Preferably, the second joint element 302 is fixedly connected to the third joint element 303, the fourth joint element 304 is fixedly connected to the fifth joint element 305, and the sixth joint element 306 is fixedly connected to the seventh joint element 307. When instrument tip assembly 30 is assembled with instrument driver 10, rotation of second upender 115 about a central point may be accomplished by six traction bodies proportionally driving the eight joints of instrument tip assembly 30 in an adaptive relative motion, resulting in an isotropic oscillation of instrument tip assembly 30. In an alternative embodiment, third axis 313 is parallel to fifth axis 315, third axis 313 is perpendicular to fourth axis 314, and fourth axis 314 is parallel to sixth axis 316.

Further, referring to fig. 4d, the six tractors are: a first traction body 117, a second traction body 118, a third traction body 119, a fourth traction body 120, a fifth traction body 121 and a sixth traction body 122; each of the traction bodies has one end connected to a traction body head end fixing portion of the instrument driving device 10 and the other end connected to a traction body tip end fixing portion of the instrument tip assembly 30. Suitably, the instrument drive 10 includes six retractor head end mounts disposed on the second flipping element 115, and the instrument tip assembly 30 includes six retractor tip end mounts.

In some embodiments, all of the retractor tip fixation portions are provided on the distal-most eighth articular element 308 in a manner that is relatively simple to assemble, but with somewhat less precision in control. Preferably, one portion of the retractor tip fixation device is disposed on the eighth articular component 308 and another portion of the retractor tip fixation device is disposed on the fourth articular component 304 and/or the fifth articular component 305. Since the fourth joint element 304 is fixedly connected to the fifth joint element 305, the retractor tip fixing portion is provided on either one of the two, and is actually equivalent. With such a configuration, one portion of the traction body can drive the first four joint members, and the other portion of the traction body drives all eight joint members, so that the control precision is high, and the swinging rigidity of the whole instrument tail end assembly 30 is also high. Because the two groups of traction body end fixing parts are arranged on different joint parts, when the instrument end assembly 30 deflects towards one direction from an initial state, the variation of the traction body corresponding to one group of traction body end fixing parts which are closer to the instrument driving device 10 is smaller, and the variation of the traction body corresponding to one group of traction body end fixing parts which are farther from the instrument driving device 10 is larger. Therefore, it is suitable that the first end fixing portions of the traction body on the second flipping unit 115 are divided into two groups, one group is far away from the central point, the other group is close to the central point, the first end fixing portions of the traction body close to the central point correspond to the second end fixing portions of the traction body close to the instrument driving unit 10, and the first end fixing portions of the traction body far away from the central point correspond to the second end fixing portions of the traction body far away from the instrument driving unit 10, so that the traction body connected between the first end fixing portions and the second end fixing portions can proportionally drive the joint units with different distances.

This is explained in detail below with reference to fig. 11a to 11 c. For clarity and ease of illustration, fig. 11a to 11c are simplified schematic views from a front view direction, considering all 3-dimensional space articulation joint simplification corresponding to a 2-dimensional plane. Referring to fig. 11b, which shows the instrument tip assembly 30 in an initial state, wherein MA represents a portion of the retractor coupled to the retractor tip fixation portion provided on the fourth articular element 304 and/or the fifth articular element 305, and for convenience of description, MA will be referred to as an inner ring retractor. MB denotes a part of the retractor connected to the retractor end fixing portion provided in the eighth joint 308, and for convenience of description, MB is referred to as an outer race retractor. Point C is the insertion point of the retractor into the instrument tip assembly 30, point D is the connection point of the inner retractor MA to the retractor tip anchor on the fourth articular element 304 and/or the fifth articular element 305, and point E is the connection point of the outer retractor MB to the retractor tip anchor on the eighth articular element 308. For the sake of simplicity, the axial lengths of the eight joint parts are identical, CD = DE. Referring to fig. 11C, which shows the instrument tip assembly 30 swinging to one side, again for simplicity of illustration, the swing angle of each joint is set to be the same, where point C ' is the position after C has swung, point D ' is the position after D has swung, and point E ' is the position after E has swung. The change L2= C 'E' -CE in the outer puller MB, and the change L1= C 'D' -CD in the inner puller MA. When the bending angle of the anterior joint 4 and the bending angle of the posterior joint 4 are the same, L2=2 × L1 is known.

Referring to fig. 11a, point O1 is a central point of the second flipping unit 115, point a is a traction body head end fixing portion closer to the central point O1, point B is a traction body head end fixing portion farther from the central point O1, and point Q is a connection point of the traction body and the instrument tip assembly 30; when the second flipping unit 115 rotates around the center point O1 to a position of 115', the points a and B rotate to the points a ' and B ' along with the second flipping unit 115. The variable quantity of the length of the tractor at the point A is X1= QA-QA '≈ AA', the variable quantity of the length of the tractor at the point B is X2= QB-QB '≈ BB', and X2> X1 is known easily. Accordingly, point a is connected to inner ring traction body MA and point B is connected to outer ring traction body MB. Since L2=2 × L1, BB 'should also be twice AA', thus knowing that point a should be approximately at the midpoint of O1B. It will of course be appreciated that when the axial distances of the several articulations of the instrument tip assembly 30 are different, the ratio of BB 'to AA' is not limited to a two-fold relationship, as long as the ratio of BB 'to AA' is matched to the ratio of MB to MA.

So configured, as the second flipping element 115 rotates, the amount of change in the motion of some of the traction bodies attached to the fourth articular element 304 and/or the fifth articular element 305 with the second flipping element 115 is less than the amount of change in the motion of other traction bodies attached to the eighth articular element 308 with the second flipping element 115. Thereby achieving an equal proportional oscillation of the drive instrument tip assembly 30.

Preferably, every the traction body includes two traction wires, every traction body head end fixed part includes two head end tie points, every traction body end fixed part includes two terminal tie points, every two of the traction body the near-end of traction wire respectively with one two head end tie points fixed connection of traction body head end fixed part, every two of the traction body the distal end of traction wire respectively with one two terminal tie point fixed connection of traction body end fixed part. In a preferred embodiment, every traction body includes two pull wires, and certain distance is spaced between two head end tie points of same traction body head end fixed part, and certain distance is spaced between two terminal tie points of the terminal fixed part of same traction body, so make two pull wires of every traction body set up with looks interval, provide better traction effect.

Preferably, the instrument driving device 10 has a central shaft, the central shaft is perpendicular to the first axis 181 and the second axis 182, and the central shaft passes through the center point of the second flipping element 115; each traction body head end fixing part comprises two head end connection points for fixedly connecting one ends of two traction wires in one traction body, and the other ends of the traction wires connected with the head end connection points are connected with the tail end connection points of the instrument tail end assemblies; the head end connecting points corresponding to the traction wires for connecting with the same joint piece are positioned on the same circumference with the central shaft as the center of a circle.

In one example, the instrument drive device 10 includes six retractor head end fixing portions, namely, a first retractor head end fixing portion to a sixth retractor head end fixing portion, which are connected to the first retractor 117, the second retractor 118, the third retractor 119, the fourth retractor 120, the fifth retractor 121 and the sixth retractor 122, respectively. The radius of a first circumference where the first traction body head end fixing part and the third traction body head end fixing part are located is D, the radius of a second circumference where the fourth traction body head end fixing part and the sixth traction body head end fixing part are located is D, and D > D. From the above analysis of fig. 11a to 11c, it can be seen that when the retractor tip mounts of the instrument tip assembly 30 are arranged on two different sets of articulations from the instrument driver 10, the connection points of the retractor tip mounts should also be stepped on two different circumferences of different radii to accommodate the instrument tip assembly 30. Preferably, the radius D of the first circumference may also be configured to be twice the radius D of the second circumference when the farther set of retractor tip fixation portions of the instrument tip assembly 30 is located twice the distance relative to the first articulation 301 as the closer set of retractor tip fixation portions is located twice the distance relative to the first articulation 301.

As shown in fig. 12a to 12c, the first tractor head end fixing part includes a first head end connection point P2, a second head end connection point P3, the second tractor head end fixing part includes a third head end connection point P6, a fourth head end connection point P7, the third tractor head end fixing part includes a fifth head end connection point P10, a sixth head end connection point P11, the fourth tractor head end fixing part includes a seventh head end connection point P12, an eighth head end connection point P1, the fifth tractor head end fixing part includes a ninth head end connection point P4, a tenth head end connection point P5, the sixth tractor head end fixing part includes an eleventh head end connection point P8, a twelfth head end connection point P9, wherein P2, P3, P6, P7, P10 and P11 are located on a first circumference, the radius of the first circumference is D, P4, P5, P8, P9, P12 and P1 are located on a second circumference, the radius of the second circumference is D, D and D satisfy: 1.8-D/D <2.2, preferably, D =2D. In other embodiments, the connection relationship between each traction body head fixing part and different traction bodies can be configured differently, and can be selected and adjusted by those skilled in the art according to the actual situation.

Preferably, a connection line between the first head end connection point P2 and the circle center of the circle where the first head end connection point P2 is located is taken as a reference line, and angles of connection lines between the second head end connection point P3, the ninth head end connection point P4, the tenth head end connection point P5, the third head end connection point P6, the fourth head end connection point P7, the eleventh head end connection point P8, the twelfth head end connection point P9, the fifth head end connection point P10, the sixth head end connection point P11, the seventh head end connection point P12 and the eighth head end connection point P1 and the circle center are respectively increased in sequence relative to the reference line. So dispose, the first traction body 117 that is connected with first traction body head end fixed part, second traction body head end fixed part, third traction body head end fixed part respectively, second traction body 118 and third traction body 119 can arrange in proper order along the counter-clockwise, and the near-end all is located first circumference, the fourth traction body 120 that is connected with fourth traction body head end fixed part, fifth traction body head end fixed part, sixth traction body head end fixed part, fifth traction body 121 and sixth traction body 122 arrange in proper order along the counter-clockwise, and the near-end all is located the second circumference. The fourth tractor head end fixing part is positioned on the clockwise adjacent side of the first tractor head end fixing part.

Fig. 12b shows a top view of a guide 116 with 12 guide holes Q1-Q12 to fit 12 pull wires of 6 tractors, each pull wire passing through one guide hole. Wherein O2 is an intersection point of the central axis on the guide 116, and preferably, the guide holes Q1 to Q12 are distributed circumferentially around the O2 point. In order to avoid the problem of scraping and the like caused by crossing of the traction wires, the arrangement sequence of the guide holes is the same as the arrangement sequence of the head end connection points of the traction wires for accommodating on the second turnover part 115, and more preferably, the angle of each guide hole in the circumferential direction is the same as that of the corresponding head end connection point. Specifically, the guide holes Q1 to Q12 correspond to the head end connection points P1 to P12 respectively, the included angle beta between the QiO2 connection line and the reference plane S is equal to the included angle alpha between the PiO connection line and the reference plane S, and i is a natural number not greater than 12. The configuration can keep the same angle between each traction wire from the head end connection point to the guide hole relative to the reference plane, and reduce the resistance of the guide hole to the traction wire.

Fig. 12c shows a top view of the first articulation piece 301, which is provided with 12 threading holes T1 to T12 to fit 12 traction wires of 6 traction bodies, each traction wire being threaded into one threading hole. Wherein O3 is an intersection point of the central axis on the first joint component 301, and preferably, the guiding holes T1 to T12 are distributed circumferentially around the O3 point. Similarly, each wire-passing hole has the same angle with the corresponding guide hole in the circumferential direction. The wire penetrating holes T1-T12 correspond to the guiding holes Q1-Q12 respectively, the included angle gamma between the TiO2 connecting line and the reference surface S is equal to the included angle beta between the QiO connecting line and the reference surface S, wherein i is a natural number not greater than 12. With this configuration, when one of the head end connection point, the guide hole and the threading hole is at a certain angle with respect to the reference plane S, the other angles with respect to the reference plane S are also determined relatively. Preferably, the position of the threading hole on the first joint element 301 is determined first. More preferably, a plane orthogonal coordinate system XO3Y is established on the end plane of the first joint component 301, and the Y axis coincides with the reference plane S. The 3 threading holes T1, T2 and T3 are all distributed in the second quadrant, and the rest threading holes can be obtained in a mode that the T1, the T2 and the T3 are respectively symmetrical about an X axis, a Y axis and an origin O3.

Preferably, every the terminal fixed part of traction body includes two end connection points, the end connection point is for lining up in the wire passing hole of joint spare, the wire passing hole is used for supplying one the traction wire is worn to establish, every two wire passing holes of the terminal fixed part of traction body are used for supplying same two traction wires of traction body wear to establish the back respectively, in the distal end side fixed connection of joint spare. Referring to fig. 4c and 4d, in a preferred embodiment, the two pull wires of one puller body are connected at the distal side, or one puller body is composed of one pull wire bent into two parts. When one traction body moves along with the second overturning part 115, two traction wires move along the axial direction simultaneously and do not generate relative axial slippage. In practice, after a traction wire is fixedly connected with a head end connection point, the traction wire penetrates through the joint component from a wire penetrating hole to the far end, penetrates through the joint component from another wire penetrating hole of the same traction body tail end fixing part to the near end, extends to the near end and is fixedly connected with another head end connection point of the same traction body head end fixing part. So configured, assembly is facilitated, which also facilitates reducing the bulk of instrument tip assembly 30.

In another embodiment, the third axis 313 and the fourth axis 314 are parallel to each other, the fifth axis 315 and the sixth axis 316 are parallel to each other, and the third axis 313 and the fifth axis 315 are perpendicular to each other. At this time, all 8 traction body end fixing parts are arranged on the eighth revolute joint 308, and the distal ends of the first traction body 117 to the sixth traction body 122 are connected with the eighth revolute joint 308. Accordingly, the 12 head end attachment points of the 6 tractor head end fixation portions are distributed on the same circumference of the second flipping element 115 (e.g., all disposed on the first circumference or the second circumference). In other alternative embodiments, instrument tip assembly 30 includes four, six, ten, or twelve articulating members, at least one of which is out of plane with the axis of oscillation between the other articulating members. All the head end attachment points of the tractor head end fixation part are distributed on the same circumference of the second flipping element 115, and all the tractor tip fixation parts are arranged on the joint element located at the most distal end.

In a relatively simplified embodiment, the surgical instrument may comprise only 3 traction bodies, suitably only 3 traction body head fixation portions provided on the

second flipping element

115 and 3 traction body tip fixation portions provided on the distal-most articulation element. In practice, the second upender 115 allows for an overall implementation of an omnidirectional pivoting of the driving instrument tip assembly 30 by means of three traction bodies.

Referring next to fig. 6 a-6 e, optionally, the instrument tip assembly 30 includes an opening and closing assembly; the opening and closing assembly is arranged at the far end of the joint piece at the far end; the opening and closing assembly comprises two opening and closing pieces which can rotate around a seventh axis 317 respectively and are a first opening and closing piece 361 and a second opening and closing piece 362 respectively, wherein the opening and closing pieces are used for being connected with a transmission wire fixing point of the instrument driving device 10 through a transmission wire and used for opening and closing around the seventh axis 317 under the driving of the instrument driving device 10.

The instrument driving device 10 includes: a third drive shaft 103, a fourth drive shaft 104, a third transmission assembly, and a fourth transmission assembly. The third driving shaft 103 is rotatably disposed on the base 100; the fourth driving shaft 104 is rotatably disposed on the base 100; said third transmission assembly is in driving connection with said third drive shaft 103 for driving one degree of freedom of said instrument tip assembly 30; the fourth transmission assembly is drivingly connected to the fourth drive shaft 104 for driving another degree of freedom of the instrument tip assembly 30. In the embodiment shown in fig. 6 a-6 e, third drive shaft 103 passes through a third transmission assembly for driving the opening and closing assembly of instrument tip assembly 30 to rotate about the axis of the distal joint member. The fourth driving shaft 104 is used for driving the opening and closing component of the instrument end component 30 to open and close through the fourth transmission component. Preferably, the third driving shaft 103 and the fourth driving shaft 104 are respectively located at both sides of the reference plane and are perpendicular to the base 100, and more preferably, the third driving shaft 103 and the fourth driving shaft 104 are symmetrically arranged about the reference plane.

Referring now to fig. 6a and 6b, the third drive shaft 103 will be described in detail with reference to an exemplary embodiment to drive the opening and closing assembly to rotate about the axis of the distal joint member. The third transmission assembly includes: the third driving gear 140, the first transition gear 141 and the first driven gear 142, the third driving gear 140 is coaxially fixed on the third driving shaft 103, the first transition gear 141 is meshed with the third driving gear 140, and the first driven gear 142 is meshed with the first transition gear 141 to form gear transmission. The first driven gear 142 is coaxially connected with a flexible shaft 143, and the third driving shaft 103 rotates to drive the flexible shaft 143 to rotate around the shaft through the third driving gear 140 and the first transition gear 141. Preferably, the instrument driving device 10 further includes an upper cover 144, the upper cover 144 is parallel to the base 100 and is connected to the base 100, and the third driving gear 140, the first transition gear 141 and the first driven gear 142 are respectively rotatably disposed on the upper cover 144.

The opening and closing assembly comprises an opening and closing base 340, the two opening and closing pieces (a first opening and closing piece 361 and a second opening and closing piece 362) are rotatably arranged on the opening and closing base 340, and the opening and closing base 340 is rotatably connected with the joint piece (i.e. the eighth joint piece 308) at the farthest end; the opening and closing base 340 is used for being in transmission connection with a driving shaft (i.e. the third driving shaft 103) of the instrument driving device 10 through a flexible shaft 143; the open/close base 340 is driven by the third driving shaft 103 to rotate. Preferably, all the joint members have a flexible shaft hole axially penetrating through the center, and the flexible shaft 143 extends from the first driven gear 142 to the distal end, sequentially penetrates through the flexible shaft holes of the joint members, and is connected with the opening and closing base 340. Therefore, the rotation of the opening and closing base 340 is driven by the rotation of the third driving shaft 103 through the transmission of the flexible shaft 143.

Referring to fig. 6a to 6d, the fourth driving shaft 104 for driving the opening/closing component to open or close will be described in detail with reference to an exemplary embodiment. The fourth drive assembly includes a first drive wire fixing point 160 and a second drive wire fixing point 161, the first drive wire fixing point 160 and the second drive wire fixing point 161 rotating with the rotation of the fourth drive shaft 104; the first drive wire fixing point 160 is used for connecting one drive wire in a first drive wire group 162, and the second drive wire fixing point 161 is used for connecting another drive wire in the first drive wire group 162; the fourth driving shaft 104 rotates to drive the first driving wire fixing point 160 and the second driving wire fixing point 161 to rotate respectively, so as to drive the two driving wires to move synchronously in opposite directions, so as to drive the opening and closing of the opening and closing component of the instrument end component 10. Optionally, the first drive wire fixing point 160 and the second drive wire fixing point 161 both rotate about the axis of rotation of the fourth drive shaft 104. Optionally, the fourth driving assembly further includes a first guide wheel set 163, and the two guide wheels of the first guide wheel set 163 are used for guiding the two driving wires of the first driving wire set 162 and changing the extending direction of the driving wires to extend towards the distal end. Optionally, two transmission wires in the first transmission wire set 162 may be wound around the fourth driving shaft 104 for several turns in different directions, respectively, so that the fourth driving shaft 104 can be reversely unwound and extend distally when rotating. Optionally, the first guide wheel set 163 is rotatably disposed on the upper cover plate 144. Optionally, the flexible shaft 143 is hollow along the axial direction for the transmission wire to pass through.

The opening and closing assembly comprises: a first opening and closing sheet 361, a second opening and closing sheet 362, a slide rod shaft 363, an opening and closing end pulley 364 and a transmission wire fixing block 366; the first opening and closing piece 361, the opening and closing end pulley 364 and the second opening and closing piece 362 are sequentially arranged along the seventh axis 317, and the two opening and closing pieces and the opening and closing end pulley 364 are respectively and rotatably arranged around the seventh axis 317, in one example, the opening and closing end pulley 364 is provided with an opening and closing rotating shaft 365 arranged along the seventh axis 317, the two opening and closing pieces are respectively provided with an opening and closing shaft hole, and two ends of the opening and closing rotating shaft 365 are respectively arranged in the opening and closing shaft holes of one opening and closing piece in a penetrating manner; the opening and closing end pulley 364 is used for circumferentially winding the transmission wire in the first transmission wire set 162; the slide rod shaft 363 is provided with an accommodating cavity matched with the transmission screw fixing block 366 and used for accommodating the transmission screw fixing block 366; the transmission wire fixing block 366 is used for being fixedly connected with the transmission wire; the driving wire fixing block 366 is used for moving along with the movement of the driving wire and driving the slide rod shaft 363 to move along the movement direction of the driving wire; the two opening and closing pieces are respectively provided with a chute 367, and two ends of the slide rod shaft 363 are respectively movably arranged in the chutes 367; the extending direction of the inclined grooves 367 is arranged at an angle to the moving direction of the driving wire, and the two inclined grooves 367 are arranged oppositely to the moving direction of the driving wire, and preferably, the two inclined grooves 367 are arranged symmetrically to the moving direction of the driving wire. Optionally, the two transmission wires of the first transmission wire set 162 are fixedly connected after passing around the opening and closing end pulley 364, or the first transmission wire set 162 is formed by one transmission wire bent into two parts. In practice, a driving wire may be fixedly connected to the first driving wire fixing point 160, guided by one guide wheel of the first guide wheel set 163 to change direction, extended toward the distal end, wound around the opening/closing end pulley 364 to extend toward the proximal end, guided by the other guide wheel of the first guide wheel set 163 to change direction, and fixedly connected to the second driving wire fixing point 161. Further, a drive wire fixing block 366 is fixed to a position of one drive wire near the opening and closing end pulley 364, and the drive wire fixing block 366 is received in the receiving cavity of the slide lever shaft 363, so that the drive wire is restricted in axial freedom with respect to the slide lever shaft 363. The movement of the drive wire will drive the slide rod shaft 363 to move. The two ends of the slide rod shaft 363 are respectively inserted into one inclined groove 367, so that when the fourth driving shaft 104 rotates, the slide rod shaft 363 is driven to move, and the first opening and closing piece 361 and the second opening and closing piece 362 can be driven to rotate around the seventh axis 317 in opposite directions, so as to form relative opening and closing.

Referring to fig. 6a and 6e, optionally, the instrument shaft 20 is used for the traction body and the transmission wire to pass through; the proximal end of the instrument shaft 20 is rotatably connected to the base 100, and the instrument tip assembly 30 is connected to the distal end of the instrument shaft 20; the device driving apparatus 10 further includes a fifth driving shaft 105 and a fifth transmission assembly, wherein the fifth driving shaft 105 is rotatably disposed on the base 100; the fifth transmission component is in transmission connection with the fifth driving shaft 105 and is used for driving the instrument rod 20 to rotate. In one embodiment, the fifth transmission assembly includes a fourth driving gear 150, a second transition gear 151 and a second driven gear 152, the fourth driving gear 150 is coaxially connected to the fifth driving shaft 105, the second transition gear 151 is engaged with the fourth driving gear 150, the second driven gear 152 is engaged with the second transition gear 151, and the instrument rod 20 is coaxially and fixedly connected with the second driven gear 152. The instrument tip assembly 30 also includes a tip seat 350, the tip seat 350 being connected to the proximal side of the proximally located articulation member (i.e., the first articulation member 301), and the tip seat 350 being constrained with respect to circumferential degrees of freedom of the instrument shaft 20. So configured, fifth drive shaft 105 rotates to drive instrument shaft 20 to rotate via the fifth transmission assembly, which in turn drives end pedestal 350 to rotate, thereby driving the entire instrument end assembly 30 to rotate around the shaft. It will be appreciated that while the fifth drive shaft 105 drives rotation of the entire instrument tip assembly 30, the third drive shaft 103 drives rotation of the opening and closing assembly about the axis of the distal joint member only, and that the two may each rotate independently of one another without interference. Preferably, the fifth driving shaft 105 is perpendicular to the base 100. More preferably, the fifth driving shaft 105 is located on the reference surface.

Based on the above configuration, by the rotation of the first driving shaft 101 and the second driving shaft 102, the second flipping unit 115 can be driven to move in a universal manner around a center point, i.e., the center point serves as a motionless point around which the second flipping unit 115 can rotate 360 ° without dead angle. Furthermore, the first driving shaft 101 and the second driving shaft 102 are matched to rotate, so that the unique shape of the second turnover part 115 in the space can be determined, and the configuration can be adopted, so that the joint universal motion of the distal instrument end assembly 30 can be controlled proportionally through the traction body connected with the head end fixing part of the traction body arranged on the second turnover part 115, the flexibility of the surgical instrument is improved, and some complex surgical operations can be better handled. In addition, the second flipping unit 115 is disposed on the first flipping unit 114, so that the space volume of the entire instrument driving device 10 is small, and the operation space requirement of the surgical robot is reduced.

Further, the opening and closing component of the instrument end component 30 can be driven to rotate around the axis of the distal joint component through the rotation of the third driving shaft 103; the opening and closing component of the instrument tail end component 30 can be driven to open and close through the rotation of the fourth driving shaft 104; the entire instrument tip assembly 30 may be driven to rotate about its axis by rotation of fourth drive shaft 104. Therefore, the surgical instrument with multiple degrees of freedom is realized, and conditions are provided for complex surgery.

Optionally, the first flip part 114 is a frame or has a cavity, an inner space of the frame or the cavity is used for accommodating the second flip part 115, and the second flip part 115 is accommodated in the inner space of the first flip part 114 at least in an initial state. The configuration is beneficial to reducing the space volume of the instrument driving device and reducing the operation space requirement of the surgical robot.

It will be appreciated that the above is merely exemplary of one mapping of the arrangement of the various drive shafts to drive instrument tip assembly 30, and that one skilled in the art may remap the different degrees of freedom of the different drive shafts to instrument tip assembly 30. In addition, the first transmission assembly, the second transmission assembly, the third transmission assembly and the fifth transmission assembly are not limited to the gear transmission formed by the gears, and more or fewer gears can be arranged to realize the transmission. In other embodiments, the first transmission assembly, the second transmission assembly, the third transmission assembly and the fifth transmission assembly are not limited to use of gear sets for transmission, and other transmission methods commonly used in the art, such as wire wheels, synchronous belts, friction wheels, etc., may also be used, and those skilled in the art may select and configure the transmission methods according to the actual situation.

As shown in fig. 13, based on the above-mentioned surgical instrument, the present invention further provides a surgical robot, which includes at least one mechanical arm, and the distal end of the mechanical arm 6 is detachably connected to the surgical instrument 1 as described above. The surgical robot comprises a control end and an execution end, wherein the control end comprises a doctor control console 2 provided with a main operating hand 3, the execution end comprises a surgical trolley 4, a side trolley 5 and other devices, and a patient lies on the surgical trolley 4 to perform surgery. The side trolley 5 is provided with a mechanical arm 6 for mounting the surgical instrument 1, the mechanical arm 6, the surgical instrument 1 and the main manipulator 3 have a preset mapping relation, so that the mechanical arm 6, the surgical instrument 1 and the main manipulator 3 form a master-slave relation, and the mechanical arm 6 and the surgical instrument 1 control the surgical instrument according to the movement of the main manipulator 3 to realize the movement of each direction so as to complete the surgical operation. Since the surgical robot includes the surgical instrument, the surgical robot has the advantageous effects of the surgical instrument. Other components of the surgical robot may be configured by those skilled in the art in light of the prior art, and the present invention will not be described in detail herein.

[ EXAMPLE II ]

The instrument driving device, the instrument tip assembly, the surgical instrument, and the surgical robot according to the second embodiment of the present invention are basically the same as those of the first embodiment, and the same portions will not be described, and only different points will be described below.

Referring to fig. 7a to 7d, fig. 7a is a schematic view of a surgical instrument according to a second embodiment of the present invention; FIG. 7b is a partially schematic illustration of the third drive shaft and a fourth drive shaft associated with the instrument drive unit in accordance with the second embodiment of the present invention; FIG. 7c is a schematic view of a third drive shaft and opening and closing assembly of the instrument drive unit in accordance with the second embodiment of the present invention; fig. 7d is a schematic view of a fourth driving shaft and an opening/closing assembly of the instrument driving device according to the second embodiment of the present invention.

In the second embodiment, the third transmission assembly of the instrument driving device 10 and the opening and closing assembly of the instrument tip assembly 30 are different from those of the first embodiment. Specifically, as shown in fig. 7a to 7d, the opening and closing assembly includes two opening and closing pieces and two opening and closing rotating wheels; the two opening and closing pieces are respectively a first opening and closing piece 361 and a second opening and closing piece 362, and the two opening and closing rotating wheels are respectively a first opening and closing rotating wheel 368 and a second opening and closing rotating wheel 369. The two opening and closing pieces are respectively and fixedly connected with one opening and closing rotating wheel; the two opening and closing rotating wheels are respectively and rotatably arranged around the seventh axis 317; each opening and closing rotating wheel is used for enabling a transmission wire in one transmission wire group to be wound in the circumferential direction and fixedly connected with the transmission wire so as to rotate under the driving of the transmission wire; the two opening and closing rotating wheels are respectively used for being connected with different transmission wire sets, so that the two opening and closing pieces are configured to be opened and closed in a mutually decoupled mode.

In one example, the third drive assembly includes a third drive wire fixing point 164 and a fourth drive wire fixing point 165, the third drive wire fixing point 164 and the fourth drive wire fixing point 165 rotating with rotation of the third drive shaft 103; the third drive wire attachment point 164 is adapted to be connected to one drive wire of the second drive wire set 166, and the fourth drive wire attachment point 165 is adapted to be connected to another drive wire of the second drive wire set 166; the fourth driving shaft 104 rotates to drive the third driving wire fixing point 164 and the fourth driving wire fixing point 165 to rotate respectively, so as to drive the two driving wires in the second driving wire set 166 to move synchronously in opposite directions, so as to drive the opening and closing of the opening and closing component of the instrument tip component 10. Optionally, the axis of rotation of the third drive wire fixation point 164 and the axis of rotation of the fourth drive wire fixation point 165 both coincide with the axis of rotation of the third drive shaft 103. Optionally, the fourth transmission assembly further includes a second guide wheel set 167, and the two guide wheels of the second guide wheel set 167 are used for guiding the two transmission wires of the second transmission wire set 166 and changing the extending direction of the transmission wires to extend towards the distal end. Alternatively, two drive wires of second drive wire set 166 may be wound around fourth drive shaft 104 in different directions for several turns, respectively, so that fourth drive shaft 104 may be unwound in opposite directions and extended distally.

Optionally, two driving wires of the second driving wire set 166 are fixedly connected after bypassing the first opening and closing rotating wheel 368, or the second driving wire set 166 is formed by one driving wire bent into two parts. In practice, after being fixedly connected to the third wire fixing point 164, a wire may be guided by one guide wheel of the second guide wheel set 167 to change direction, extend toward the distal end, wind around the first opening/closing rotating wheel 368 and be fixedly connected to the first opening/closing rotating wheel 368, extend toward the proximal end, be guided by the other guide wheel of the second guide wheel set 167 to change direction, and be fixedly connected to the fourth wire fixing point 165. The two transmission wires of the first transmission wire set 162 are fixedly connected after bypassing the second opening and closing wheel 369, or the first transmission wire set 162 is formed by a transmission wire which is bent into two parts. In practice, a driving wire can be guided by one guide wheel of the first guide wheel set 163 to change direction after being fixedly connected to the first driving wire fixing point 160, extend toward the distal end, wind around the second opening/closing rotating wheel 369 and fixedly connected to the second opening/closing rotating wheel 369, extend toward the proximal end, be guided by the other guide wheel of the first guide wheel set 163 to change direction, and be fixedly connected to the second driving wire fixing point 161.

With such a configuration, the third driving shaft 103 and the fourth driving shaft 104 can drive one opening and closing plate respectively, and drive the two opening and closing plates to open and close in a mutually decoupled manner. To better suit the needs of some surgeries.

[ EXAMPLE III ]

The instrument driving device, the instrument tip assembly, the surgical instrument, and the surgical robot according to the third embodiment of the present invention are basically the same as those of the first embodiment, and the same portions will not be described again, and only different points will be described below.

Referring to fig. 8 to 10c, fig. 8 is a schematic view of a surgical instrument according to a third embodiment of the present invention; FIG. 9a is a partial schematic view of the components associated with the first drive shaft and the second drive shaft in accordance with a third embodiment of the present invention; fig. 9b is a schematic view of the third embodiment of the present invention driving the second flipping member to move; FIG. 9c is a partial schematic view of another angle of movement of the second flipper according to a third embodiment of the present invention; FIG. 10a is a partial schematic view of the first drive assembly and the second drive assembly of the third embodiment of the present invention; FIG. 10b is a schematic illustration of the transmission principles of the first transmission assembly and the second transmission assembly of the third embodiment of the present invention; fig. 10c is a schematic view of the driving principle of the driving wire according to the third embodiment of the present invention.

In the third embodiment, the arrangement form of the first transmission assembly and the second transmission assembly is different from that of the first embodiment. Specifically, as shown in fig. 8 to 10c, the first transmission assembly includes: a first drive pulley 110, a first drive wire 174, and a third drive wire 176; the second transmission assembly comprises: a second drive wheel 111, a second drive wire 175, and a fourth drive wire 177; the first driving wheel 110 is rotatably disposed on the base 100 and is in transmission connection with the first driving shaft 101, and one end of the first driving wire 174 is connected to the first driving wheel 110 and is not coincident with the rotation axis of the first driving wheel 110; the other end of the first drive wire 174 is connected to a first drive wire attachment point 178 on the second flipper 115, the first drive wire attachment point 178 being offset from the first axis 181 and the second axis 182; one end of the third driving wire 176 is connected to the first driving wheel 110 and is not coincident with the rotation axis of the first driving wheel 110; the second transmission wheel 111 is rotatably disposed on the base 100 and is in transmission connection with the second driving shaft 102, and one end of the second driving wire 175 is connected to the second transmission wheel 111 and is not coincident with the rotation axis of the second transmission wheel 111; the other end of the second drive wire 175 is connected to a second drive wire attachment point 179 on the second flipper 115, the second drive wire attachment point 179 being offset from the first axis 181 and the second axis 182; one end of the fourth driving wire 177 is connected to the second driving wheel 111, and is not coincident with the rotation axis of the second driving wheel 111; the other end of the fourth driving wire 177 is connected with the other end of the third driving wire 176 and is connected with the second turnover part 115; wherein the first driving wheel 110 and the second driving wheel 111 rotate according to a first combination, so that one of the first driving wire 174 and the second driving wire 175 is drawn and the other one is loosened, and the second turnover part 115 is driven to rotate around the second axis 182; the first driving wheel 110 and the second driving wheel 111 rotate according to a second combination, so that the first driving wire 174 and the second driving wire 175 are simultaneously drawn and the third driving wire 176 and the fourth driving wire 177 are simultaneously loosened, or the first driving wire 174 and the second driving wire 175 are simultaneously loosened and the third driving wire 176 and the fourth driving wire 177 are simultaneously drawn and the second turnover part 115 is driven to rotate around the first axis 181.

Preferably, the first combination comprises the first transmission wheel 110 and the second transmission wheel 111 rotating in opposite directions; the second combination includes that the first driving wheel 110 and the second driving wheel 111 rotate in the same direction. Of course, in other embodiments, the first combination may also include the first driving wheel 110 and the second driving wheel 111 rotating in the same direction; the second combination includes that the first driving wheel 110 and the second driving wheel 111 rotate in opposite directions, which is not limited in this embodiment.

In the following description with reference to the exemplary embodiment shown in fig. 10a to 10c, the first driving wheel 110 and the second driving wheel 111 rotate in opposite directions, and when the first combination is formed, the second flipping element 115 can be driven to rotate around the second axis 182. Specifically, when the first driving shaft 101 rotates to drive the first driving wheel 110 to rotate counterclockwise in fig. 10a, the first driving wire 174 is driven to wind around the first driving wheel 110, the first driving wire 174 is pulled and retracted, and the first driving wire 174 applies a force F1 along the first direction to the second flipping element 115. Meanwhile, when the second driving shaft 102 rotates to drive the second transmission wheel 111 to rotate clockwise in fig. 10a, the second driving wire 175 is driven to unwind from the second transmission wheel 111, and the second driving wire 175 is loosened. The moment direction of the force F1 in the first direction with respect to the second axis 182 is counterclockwise in fig. 10a, which enables driving the second flipping element 115 to rotate counterclockwise around the second axis 182. Similarly, when the first driving shaft 101 rotates to drive the first driving wheel 110 to rotate clockwise in fig. 10a, the second driving shaft 102 rotates to drive the second driving wheel 111 to rotate counterclockwise in fig. 10a, the second driving wire 175 is pulled and retracted, the second driving wire 175 applies a force F2 in the second direction to the second flipping element 115, and simultaneously the first driving wire 174 is released, so as to drive the second flipping element 115 to rotate clockwise about the second axis 182. In the process, the rotation directions of the first transmission wheel 110 and the second transmission wheel 111 are opposite, i.e. a first combination is formed.

F1 and F2 are located on opposite sides of the second axis 182, respectively, and the moments of F1 and F2 are opposite to each other about the second axis 182. Since the driving wire can only transmit the pulling force, and cannot transmit both the pulling force and the pushing force like the first link 112 and the second link 113 of the first embodiment, the two forces F1 and F2 with opposite torque directions can respectively drive the second flipping element 115 to rotate around the second axis 182 in the positive and negative directions.

Further, the first transmission wheel 110 and the second transmission wheel 111 rotate in the same direction, and when a second combination is formed, the second reversing element 115 can be driven to rotate around the first axis 181. The following is also described with reference to the exemplary embodiments shown in fig. 10a to 10 c:

when the first driving shaft 101 rotates to drive the first driving wheel 110 to rotate counterclockwise in fig. 10a, the first driving wire 174 is wound around the first driving wheel 110, the first driving wire 174 is drawn, and the other end of the first driving wire 174 applies a force F1 in the first direction to the second flipping element 115. Meanwhile, the rotation of the first driving wheel 110 will drive the third driving wire 176 to unwind from the first driving wheel 110, and the third driving wire 176 will be loosened.

When the second driving shaft 102 rotates to drive the second transmission wheel 111 to rotate counterclockwise in fig. 10a, the second driving wire 175 is driven to wind on the second transmission wheel 111, the second driving wire 175 is pulled, and the other end of the second driving wire 175 applies a force F2 in the second direction to the second flipping element 115. Meanwhile, the rotation of the second transmission wheel 111 drives the fourth driving wire 177 to unwind from the second transmission wheel 111, and the fourth driving wire 177 is loosened.

F1 and F2 are located on the same side of the first axis 181, and the direction of the moment formed by the resultant force of F1 and F2 to the first axis 181 is clockwise in fig. 10 a. Thus, when the first driving wire 174 and the second driving wire 175 are simultaneously drawn and the third driving wire 176 and the fourth driving wire 177 are simultaneously released, the second flipping element 115 is driven to rotate clockwise about the first axis 181.

And the third driving wire 176 and the fourth driving wire 177 are located at the other side of the first driving wire 174 and the second driving wire 175 relative to the first axis 181, and similarly, when the third driving wire 176 and the fourth driving wire 177 are simultaneously drawn and the first driving wire 174 and the second driving wire 175 are simultaneously loosened, the second turnover part 115 is driven to rotate anticlockwise around the first axis 181, so that the second turnover part 115 is driven to rotate forwards and backwards around the first axis 181 by the four driving wires respectively in a manner of transmitting pulling force.

Preferably, the first direction and the second direction are coplanar, a plane of the first direction and the second direction is parallel to the first axis 181, and at least one of the first direction and the second direction is not parallel to the first axis 181. So configured, the resultant force of F1 and F2 to the second flipping element 115 does not pass through the first axis 181, so as to form a moment to the first axis 181 to drive the second flipping element 115 to rotate around the first axis 181.

Optionally, the second flipping unit 115 comprises a fixed wheel 170, the fixed wheel 170 is perpendicular to the second axis 182, and the center of the fixed wheel 170 passes through the second axis 182; the first drive wire 174 and the second drive wire 175 extend around the circumference of the fixed wheel 170, and the first drive wire fixing point 178 and the second drive wire fixing point 179 are located at the outer circumference of the fixed wheel 170. Preferably, the first driving wire fixing point 178 and the second driving wire fixing point 179 are disposed on the wire groove radius of the fixing wheel 170, so as to ensure that the wire outlet is tangent to the wire groove radius. The first and

second drive wires

174, 175 extend around the circumference of the fixed wheel 170 to ensure that the first and second directions satisfy the above conditions. Of course, in other embodiments, the fixed wheel 170 is not limited to be disposed, and the first direction and the second direction may be defined by the protrusions formed by the second flipping element 115 itself.

It should be noted that the manner in which the first drive wire 174 and the second drive wire 175 are connected to the first drive wire attachment point 178 and the second drive wire attachment point 179 includes, but is not limited to: 1. the first driving wire 174 and the second driving wire 175 are arranged to be a coherent driving wire, the first driving wire fixing point 178 and the second driving wire fixing point 179 are the same fixing body, the fixing wheel 170 is provided with a limiting hole, and a position in the middle of the coherent driving wire is limited by the fixing body such as the limiting hole, so that the coherent driving wire can be connected with the fixing wheel 170; 2. the first drive wire fixing point 178 and the second drive wire fixing point 179 are restraining posts provided on the fixed wheel 170, and are connected by being wound at least one turn around the restraining posts at a position midway between consecutive drive wires as described in fig. 1; 3. the first drive wire 174 and the second drive wire 175 are segmented drive wires, the first drive wire attachment point 178 and the second drive wire attachment point 179 are two separate attachment points, and the ends of the first drive wire 174 and the second drive wire 175 are fixedly attached to the first drive wire attachment point 178 and the second drive wire attachment point 179, respectively.

In an exemplary embodiment, the instrument drive device 10 further includes: a swivel wheel 171; the rotating wheel 171 is rotatably arranged on the second turnover member 115 around the second axis 182; the other end of the third driving wire 176 is arranged around the circumference of the rotating wheel 171, the other end of the fourth driving wire 177 is arranged around the circumference of the rotating wheel 171, and the other end of the third driving wire 176 is fixedly connected with the other end of the fourth driving wire 177. When the first driving wire 174 and the second driving wire 175 drive the second flipping element 115 to rotate around the second axis 182, correspondingly, the third driving wire 176 and the fourth driving wire 177 move in opposite directions around the second axis 182, so as to counteract the possible influence of the movement of the third driving wire 176 and the fourth driving wire 177 on the second flipping element 115, the movement of the third driving wire 176 and the fourth driving wire 177 is decoupled from the rotation of the second flipping element 115 around the second axis 182 by the rotation wheel 171, so that the movement of the third driving wire 176 and the fourth driving wire 177 is independent of the rotation of the second flipping element 115 around the second axis 182.

Preferably, the intersection point of the rotating wheel 171 and the second axis 182 and the projection of the first driving wire fixing point 178 on the second axis 182 are respectively located on two sides of the projection of the center point on the second axis 182. The drive wire only transmits a pulling force to the second flipping member 115 to drive the second flipping member 115 to rotate, so that the rotating wheel 171 and the first drive wire fixing point 178 are respectively arranged on two sides of the projection of the center point on the second axis 182, that is, the rotating wheel 171 and the first drive wire fixing point 178 are arranged on two sides of the second axis 182, thereby enabling the force applied by the drive wire to the second flipping member 115 through the rotating wheel 171 to form an opposite moment to the second axis 182.

In an alternative embodiment, the first transmission assembly further comprises a first guide wheel 172, and the second transmission assembly further comprises a second guide wheel 173; the rotation axis of the first guide wheel 172 is parallel to the rotation axis of the first transmission wheel 110, and the rotation axis of the second guide wheel 173 is parallel to the rotation axis of the second transmission wheel 111; the first driving wire 174 extends from the first driving wheel 110, extends through the first guide wheel 172, extends around the circumference of the fixed wheel 170, and is fixed to the first driving wire fixing point 178; the third driving wire 176 extends from the first driving wheel 110, extends through the first guiding wheel 172, extends around the circumference of the revolving wheel 171, and is connected with the fourth driving wire 177; the second driving wire 175 extends from the second transmission wheel 111, extends through the second guide wheel 172, extends around the circumference of the fixed wheel 170, and is fixed to the second driving wire fixing point 179; the fourth driving wire 177 extends from the first driving wheel 110 to the second guiding wheel 173, extends around the circumference of the revolving wheel 171, and is connected to the third driving wire 176. The first guide wheel 172 and the second guide wheel 173 can guide and change the extending direction of the driving wire, so that the driving wire extending from the transmission wheel can extend in a desired direction and can be connected to the corresponding connection object.

Further, the direction of the first driving wire 174 around the first driving wheel 110 is opposite to the direction of the third driving wire 176 around the first driving wheel 110; the direction of the first drive wire 174 around the first guide wheel 172 is opposite to the direction of the third drive wire 176 around the first guide wheel 172; the direction of the first drive wire 174 around the fixed wheel 170 is opposite to the direction of the second drive wire 175 around the fixed wheel 170; the direction of the second drive wire 175 about the second drive wheel 111 is opposite to the direction of the fourth drive wire 177 about the second drive wheel 111; the direction of the second driving wire 175 around the second guide wheel 173 is opposite to the direction of the fourth driving wire 177 around the second guide wheel 173; the third drive wire 176 is wound around the wheel 171 in a direction opposite to the direction the fourth drive wire 177 is wound around the wheel 171. With this configuration, the first driving wire 174 and the second driving wire 175 are configured as one set, the third driving wire 176 and the fourth driving wire 177 are configured as another set, and the two sets of driving wires are separated from each other with respect to the first axis 181, so that the two sets of driving wires can be arranged oppositely, and when the first driving wheel 110 and the second driving wheel 111 rotate in the same direction, the two sets of driving wires can move in opposite directions, so that the second flipping element 115 can be always applied with one set of driving wire.

Preferably, the diameter of the fixed wheel 170 is equal to the diameter of the rotary wheel 171 (further alternatively, the diameter of the center of the wire slot of the fixed wheel 170 is equal to the diameter of the center of the wire slot of the rotary wheel 171), the rotation axis of the first driving wheel 110 coincides with the rotation axis of the second driving wheel 111, the rotation axis of the first guiding wheel 172 coincides with the rotation axis of the second guiding wheel 173, the diameter of the fixed wheel 170 matches the distance between the first guiding wheel 172 and the second guiding wheel 173, for example, the distance between the first guiding wheel 172 and the second guiding wheel 173 is slightly larger than the diameter of the fixed wheel 170, so that the first driving wire 174 and the third driving wire 176 can smoothly extend to the first guiding wheel 172, and the second driving wire 175 and the fourth driving wire 177 can smoothly extend to the second guiding wheel 173, thereby reducing the occurrence of twisting. The positions of the fixing point of the first driving wire 174 on the first driving wheel 110 and the fixing point of the third driving wire 176 on the first driving wheel 110 along the first axis 181 are matched with the positions of the first guide wheels 172 along the first axis 181, and the positions of the fixing point of the second driving wire 175 on the second guide wheels 173 and the fixing point of the fourth driving wire 177 on the second guide wheels 173 along the first axis 181 are matched with the positions of the second guide wheels 173 along the first axis 181. This configuration allows the forces exerted by the two sets of drive wires on the second flipper 115 to match the torque developed by the first axis 181.

The following description will exemplarily refer to two driving wires connected to the first driving wheel 110 in conjunction with fig. 10a to 10 c. One end of the first driving wire 174 is fixed to the first driving wheel 110, extends clockwise around the circumference of the first driving wheel 110, leaves the first driving wheel 110, and winds around the first guiding wheel 172 counterclockwise by about 1/4 of the circumference, and the section of the first driving wire 174 is located at the same position along the axial direction of the first axis 181, in other words, the section of the first driving wire 174 extends and winds on a plane perpendicular to the first axis 181. Further, the first driving wire 174 is wound around the fixed wheel 170 about 1/4 of the circumference clockwise after leaving the first guide wheel 172, and finally is fixedly connected to the fixed wheel 170 at the first driving wire fixing point 178. One end of the third driving wire 176 is fixed to the first driving wheel 110, extends counterclockwise around the circumference of the first driving wheel 110, leaves the first driving wheel 110, and is wound around the first guiding wheel 172 clockwise by about 1/4 of the circumference, and the section of the third driving wire 176 is located at the same position along the axial direction of the first axis 181 and is also located at the same axial position as the part of the first driving wire 174 wound around the first driving wheel 110 and the first guiding wheel 172. Further, the third driving wire 176 is wound around the guide wheel 171 in a clockwise direction by about 1/4 of the circumference after leaving the first guide wheel 172, and is finally fixedly connected to the fourth driving wire 177. The arrangement of the two driving wires (the second driving wire 175 and the fourth driving wire 177) connected to the second transmission wheel 111 is symmetrical to the arrangement of the first driving wire 174 and the third driving wire 176 about the second axis 182, and is not repeated here.

Alternatively, similar to the first embodiment, the first transmission wheel 110 is in gear transmission with the first driving shaft 101, and the second transmission wheel 111 is in gear transmission with the second driving shaft 101, so that when the first driving shaft 101 rotates in the same direction as the second driving shaft 102, the second flipping element 115 is driven to rotate around the first axis 181, and when the first driving shaft 101 rotates in the opposite direction to the second driving shaft 102, the second flipping element 115 is driven to rotate around the second axis 182. The first driving shaft 101 and the second driving shaft 102 rotate independently at a certain angle, which can drive the second flipping element 115 to rotate universally around the center point.

In summary, in the instrument driving device, the instrument tip assembly, the surgical instrument and the surgical robot provided by the present invention, the instrument driving device includes a base, a first driving shaft, a second driving shaft, a first turning member, a second turning member, at least three tractor head end fixing portions, a first transmission assembly and a second transmission assembly, wherein the base has a reference surface; a first driving shaft rotatably provided to the base; the second driving shaft is rotatably arranged on the base, and the first driving shaft and the second driving shaft are respectively arranged on two sides of the reference surface; the first overturning part is rotatably arranged on the base, and the rotating axis of the first overturning part is a first axis; the second overturning part is rotatably arranged on the first overturning part; the rotating axis of the second turnover piece is a second axis, the second axis is different from or intersected with the first axis to form a central point, and the central point is positioned on the reference plane; the at least three traction body head end fixing parts are arranged on the second overturning part and are used for fixedly connecting different traction bodies so as to realize transmission connection with a distal instrument tail end assembly; the head end fixing parts of the traction body are arranged at intervals; the first transmission assembly is in transmission connection with the first driving shaft and is in transmission connection with the second overturning part; the second transmission assembly is in transmission connection with the second driving shaft and is in transmission connection with the second overturning part; the first driving shaft rotates, and a first torque is applied to the second overturning part through the first transmission assembly so as to drive the second overturning part to rotate around the central point; the second driving shaft rotates, and a second torque is applied to the second overturning part through the second transmission assembly so as to drive the second overturning part to rotate around the central point.

Therefore, the second overturning part can be driven to move universally around the central point through the rotation of the first driving shaft and the second driving shaft, namely the central point is used as a fixed point, and the second overturning part can rotate around the fixed point by 360 degrees without dead angles. Furthermore, the first driving shaft and the second driving shaft are matched to rotate, the unique form of the second overturning part in the space can be determined, and the universal motion of the joint part of the distal instrument end assembly can be controlled proportionally by the aid of the traction body connected with the traction body head end fixing part arranged on the second overturning part, so that the flexibility of the surgical instrument is improved, and some complex surgical operations can be better dealt with. In addition, the second overturning part is arranged on the first overturning part, so that the space volume of the whole instrument driving device is smaller, and the operation space requirement of the surgical robot is reduced.

It should be noted that, in this specification, each embodiment is described in a progressive manner, and the emphasis of each embodiment is to be described different from that of other embodiments, and the same and similar parts in each embodiment may be referred to each other, and in addition, different parts in each embodiment may also be used in combination with each other, which is not limited by the present invention. Furthermore, the above-mentioned embodiments are only exemplary descriptions of the present invention and not limitations of the present invention, and those skilled in the art can make various modifications and improvements (such as combining or splitting base parts therein, changing relative positions of driving shafts, changing spatial positions of guide wheels in space, etc.) without departing from the concept of the present invention, and all of them fall within the protection scope of the appended claims.

Claims

1. An instrument drive device, comprising:

a base having a datum surface;

a first driving shaft rotatably provided to the base;

the first driving shaft rotates, and a first torque is applied to the second overturning part through the first transmission assembly so as to drive the second overturning part to rotate around the central point; the second driving shaft rotates, and a second torque is applied to the second overturning part through the second transmission assembly so as to drive the second overturning part to rotate around the central point;

the first transmission assembly includes: the first driving wheel, the first driving wire and the third driving wire; the second transmission assembly includes: the second driving wheel, the second driving wire and the fourth driving wire;

the first driving wheel is rotatably arranged on the base and is in transmission connection with the first driving shaft, and the first driving wire is connected to one end of the first driving wheel and is not overlapped with the rotation axis of the first driving wheel; the other end of the first driving wire is connected to a first driving wire fixing point of the second overturning part, and the first driving wire fixing point is not overlapped with the first axis and the second axis; the third driving wire is connected to one end of the first driving wheel and is not overlapped with the rotation axis of the first driving wheel;

the second driving wheel is rotatably arranged on the base and is in transmission connection with the second driving shaft, and the second driving wire is connected with one end of the second driving wheel and is not coincident with the rotation axis of the second driving wheel; the other end of the second driving wire is connected to a second driving wire fixing point on the second overturning part, and the second driving wire fixing point is not superposed with the first axis and the second axis; the fourth driving wire is connected to one end of the second driving wheel and is not overlapped with the rotation axis of the second driving wheel; the other end of the fourth driving wire is connected with the other end of the third driving wire and is connected with the second overturning part.

2. The instrument driver according to claim 1, wherein a plane in which the first torque lies and a plane in which the second torque lies are arranged at an angle.

3. The instrument drive device of claim 1, wherein the second everter is driven to rotate about the second axis when the first drive shaft and the second drive shaft are rotated synchronously in opposite directions; when the first driving shaft and the second driving shaft synchronously rotate along the same direction, the second overturning part is driven to rotate around the first axis.

4. The instrument drive device according to claim 1, wherein the first axis and the second axis are perpendicular and intersect.

5. The instrument driver according to claim 1, wherein the base includes a guide having a plurality of guide holes for the pull body to extend distally through the base and for limiting radial displacement of the pull body relative to the base.

6. The instrument drive device according to any one of claims 1 to 5, wherein the axis of rotation of the first drive shaft and the axis of rotation of the second drive shaft are both perpendicular to the base, and the axis of rotation of the first drive wheel and the axis of rotation of the second drive wheel are both parallel to the base.

7. The instrument drive device according to claim 1,

first drive wheel with the second drive wheel rotates according to the second combination, makes first drive silk with the second drive silk is received simultaneously and is drawn just third drive silk with when fourth drive silk is simultaneously loosened, perhaps makes first drive silk with the second drive silk is simultaneously loosened just third drive silk with when fourth drive silk is received simultaneously and is drawn, the drive the second upset piece centers on first axis rotates.

8. The instrument drive device according to claim 7, wherein the first combination includes the first drive wheel and the second drive wheel rotating in opposite directions; the second combination comprises that the first driving wheel and the second driving wheel rotate in the same direction.

9. The instrument drive device according to claim 7, further comprising: a rotary wheel;

the rotary wheel is rotatably arranged on the second overturning part around the second axis; the other end of the third driving wire is arranged around the circumference of the rotating wheel, the other end of the fourth driving wire is arranged around the circumference of the rotating wheel, and the other end of the third driving wire is fixedly connected with the other end of the fourth driving wire.

10. The instrument drive device according to claim 9, wherein the intersection of the swivel wheel and the second axis and the projection of the first drive wire fixing point on the second axis are located on both sides of the projection of the center point on the second axis.

11. The instrument drive device according to claim 9, wherein the second flipping member includes a fixed wheel perpendicular to the second axis, and a center of the fixed wheel passes through the second axis; the first driving wire and the second driving wire extend around the circumference of the fixed wheel, and the first driving wire fixing point and the second driving wire fixing point are located on the periphery of the fixed wheel.

12. The instrument drive device according to claim 11, wherein the first transmission assembly further includes a first guide wheel, the second transmission assembly further includes a second guide wheel; the rotating axis of the first guide wheel is parallel to the rotating axis of the first transmission wheel, and the rotating axis of the second guide wheel is parallel to the rotating axis of the second transmission wheel;

13. The instrument drive device according to claim 12,

the direction of the second driving wire around the second transmission wheel is opposite to the direction of the fourth driving wire around the second transmission wheel; the direction of the second drive wire around the second guide wheel is opposite to the direction of the fourth drive wire around the second guide wheel; the third drive wire is wound around the wheel in a direction opposite to the direction in which the fourth drive wire is wound around the wheel.

14. The instrument driving device according to claim 12, wherein a diameter of the fixed wheel is equal to a diameter of the swivel wheel, a rotation axis of the first driving wheel coincides with a rotation axis of the second driving wheel, a rotation axis of the first guiding wheel coincides with a rotation axis of the second guiding wheel with respect to the first axis, a diameter of the fixed wheel is adapted to a distance between the first guiding wheel and the second guiding wheel, a position of the fixed point of the first driving wire on the first driving wheel and a position of the fixed point of the third driving wire on the first driving wheel along the first axis are adapted to a position of the first guiding wheel along the first axis, and a position of the fixed point of the second driving wire on the second driving wheel and a position of the fixed point of the fourth driving wire on the second driving wheel along the first axis are adapted to a position of the second guiding wheel along the first axis.

15. The instrument drive device according to any one of claims 7 to 14, wherein the axis of rotation of the first drive shaft and the axis of rotation of the second drive shaft are both perpendicular to the base, and the axis of rotation of the first drive wheel and the axis of rotation of the second drive wheel are both parallel to the base.

16. The instrument drive device according to claim 1, wherein the instrument drive device has a central axis that is perpendicular to the first axis and the second axis, respectively, and the central axis passes through the center point; each traction body head end fixing part comprises two head end connection points for fixedly connecting one ends of two traction wires in one traction body, and the other ends of the traction wires connected with the head end connection points are connected with the tail end connection points of the instrument tail end assemblies;

the head end connecting points corresponding to the traction wires for being connected with the same joint piece are located on the same circumference with the central shaft as the center of a circle.

17. The instrument driving device according to claim 16, wherein said instrument driving device comprises six said retractor head end fixing portions, respectively a first retractor head end fixing portion to a sixth retractor head end fixing portion, said first to third retractor head end fixing portions for securing to a retractor coupled to a more distal said articulation member, said fourth to sixth retractor head end fixing portions for securing to a retractor coupled to a more proximal said articulation member;

18. The instrument driving device according to claim 17, wherein the first to sixth traction body tip fixation portions comprise, in order, a first to a twelfth tip connection point; and the angles of the connecting lines of the second head end connecting point, the ninth head end connecting point, the tenth head end connecting point, the third head end connecting point, the fourth head end connecting point, the eleventh head end connecting point, the twelfth head end connecting point, the fifth head end connecting point, the sixth head end connecting point, the seventh head end connecting point and the eighth head end connecting point with the circle center relative to the reference line are sequentially increased by taking the connecting line of the first head end connecting point and the circle center of the circle where the first head end connecting point is located as the reference line.

19. The instrument drive device of claim 16, wherein the instrument drive device includes a guide coupled to the base; the guide piece comprises a plurality of guide holes which are distributed around the central shaft, and each guide hole is used for allowing one traction wire to penetrate through; the arrangement sequence of the guide holes is the same as that of the head end connecting points of the traction wires which are used for containing the guide holes and are arranged on the second overturning part.

20. The instrument drive device according to claim 1, wherein the instrument drive device comprises:

a third driving shaft rotatably provided to the base;

the fourth driving shaft is rotatably arranged on the base;

21. The instrument drive device according to claim 20, wherein the fourth drive assembly includes a first drive wire fixation point and a second drive wire fixation point that rotate with rotation of the fourth drive shaft;

22. The instrument drive device according to claim 21, wherein the third transmission assembly includes a third transmission wire fixation point and a fourth transmission wire fixation point that rotate with rotation of the third drive shaft;

the third transmission assembly and the fourth transmission assembly are respectively used for connecting different transmission wire sets and driving different opening and closing pieces of the opening and closing assembly to move.

23. The instrument drive device according to claim 1, wherein the instrument drive device comprises:

the fifth driving shaft is rotatably arranged on the base;

24. The instrument driving device according to claim 1, wherein the first flipping member is a frame or has a cavity, an inner space of the frame or the cavity is used for accommodating the second flipping member, and the second flipping member is accommodated in the inner space of the first flipping member at least in an initial state.

25. An instrument tip assembly for use with an instrument drive device according to any one of claims 1 to 24; the instrument tail end assembly comprises at least four joint parts which are sequentially arranged from a near end to a far end;

26. The instrument tip assembly according to claim 25, wherein each of the retractor tip fixation portions includes two tip connection points for fixedly connecting one end of two pull wires in one retractor, and the tip connection points are for connecting the other end of the connected pull wires to the tip connection points of the instrument driver.

27. The instrument tip assembly according to claim 26, wherein the tip connection point is a threading hole penetrating through the joint member, the threading hole is used for threading one traction wire, and two threading holes of each of the traction body tip fixing portions are used for fixedly connecting to the distal end side of the joint member after two traction wires of the same traction body are respectively threaded.

28. The instrument tip assembly of any one of claims 25-27, wherein the instrument tip assembly comprises eight articulating members, a first articulating member through an eighth articulating member, arranged sequentially from the proximal end to the distal end;

the first joint part is rotatably connected with the second joint part around a third axis; the third joint member is rotatably connected to the fourth joint member about a fourth axis; said fifth articular component being rotatably connected to said sixth articular component about a fifth axis; said seventh articular component being rotatably coupled to said eighth articular component about a sixth axis;

wherein the amount of change of some traction bodies for connection of the fourth joint part and/or the fifth joint part along the movement of the second overturning part is smaller than that of the other traction bodies for connection of the eighth joint part along the movement of the second overturning part.

29. The instrument tip assembly of claim 25, wherein the instrument tip assembly comprises a shutter assembly; the opening and closing assembly is arranged at the far end of the joint piece at the far end;

30. The instrument tip assembly of claim 29, wherein the opening and closing assembly comprises: the two opening and closing pieces, the slide bar shaft, the opening and closing tail end pulley and the transmission screw fixing block;

the opening and closing piece, the opening and closing tail end pulley and the other opening and closing piece are sequentially arranged along the seventh axis, and the two opening and closing pieces and the opening and closing tail end pulley are respectively and rotatably arranged around the seventh axis; the opening and closing tail end pulley is used for winding a transmission wire in a transmission wire group along the circumferential direction;

31. The instrument tip assembly of claim 29, wherein the opening and closing assembly comprises: two opening and closing pieces and two opening and closing rotating wheels;

32. The instrument tip assembly of any one of claims 29 to 31, wherein the opening and closing assembly comprises an opening and closing base, the two opening and closing pieces being rotatably disposed on the opening and closing base, the opening and closing base being rotatably connected to the distal-most articulation piece; the opening and closing base is in transmission connection with a driving shaft of the instrument driving device through a flexible shaft; the opening and closing base is driven by the driving shaft to rotate.

33. A surgical instrument comprising the instrument drive arrangement of any one of claims 1-24, the instrument tip assembly of any one of claims 25-32, and a retractor body;

one end of the traction body is connected with a head end fixing part of the traction body of the instrument driving device, and the other end of the traction body is connected with a tail end fixing part of the traction body of the instrument tail end assembly; the first drive shaft and the second drive shaft of the instrument drive device rotate, and the plurality of articulating members of the instrument tip assembly are driven by the retractor to rotate about an axis of rotation between the articulating members.

34. A surgical instrument as recited in claim 33, wherein each of said traction bodies includes two pull wires, each of said traction body head end securing portions includes two head end attachment points, each of said traction body end securing portions includes two end attachment points, proximal ends of said two pull wires of each of said traction bodies are fixedly attached to said two head end attachment points of one of said traction body head end securing portions, respectively, and distal ends of said two pull wires of each of said traction bodies are fixedly attached to said two end attachment points of one of said traction body end securing portions, respectively.

35. A surgical instrument as claimed in claim 33 or 34, wherein the instrument drive arrangement comprises six of the retractor head end fixing portions, first to sixth retractor head end fixing portions respectively; the instrument tail end assembly comprises eight joint pieces which are sequentially arranged from a near end to a far end and are respectively a first joint piece to an eighth joint piece; the surgical instrument comprises six traction bodies which are respectively a first traction body to a sixth traction body;

the proximal ends of the first traction body to the sixth traction body are respectively connected with the head end fixing part of the first traction body to the head end fixing part of the sixth traction body, and the distal ends of the first traction body to the sixth traction body are respectively connected with the tail end fixing part of the first traction body to the tail end fixing part of the sixth traction body;

36. The surgical instrument of claim 33, further comprising a flexible shaft, wherein the instrument drive device includes a third drive shaft and a third transmission assembly; the near end of the flexible shaft is connected with a third transmission assembly of the instrument driving device, the far end of the flexible shaft is connected with an opening and closing base of the instrument tail end assembly, a third driving shaft of the instrument driving device rotates, and the opening and closing base is driven to rotate through the third transmission assembly and the flexible shaft.

37. A surgical instrument as recited in claim 33, further comprising an instrument rod, the instrument drive device including a fifth drive shaft and a fifth transmission assembly; the instrument rod is used for the traction body to penetrate through; the proximal end of the instrument rod is rotatably connected to the base, and the instrument tip assembly is connected to the distal end of the instrument rod; and a fifth driving shaft of the instrument driving device rotates, and the instrument rod is driven to rotate through the fifth transmission assembly.

38. A surgical robot comprising at least one robotic arm having a distal end detachably connectable to a surgical instrument according to any one of claims 33 to 37.